| 0 | Questionperception | What are the important objects in the current scene? Those objects will be considered for the future reasoning and driving decision. |
| GT Answer | There is a silver SUV to the back of the ego vehicle, a gray sedan to the front of the ego vehicle, a red SUV to the front right of the ego vehicle, and a green light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,897.5,530.8>, <c2,CAM_FRONT,791.7,545.8>, <c3,CAM_FRONT_RIGHT,30.9,625.5>, and <c4,CAM_FRONT,750.3,350.1>. |
| InternVL2-2B | In the current scene, the important objects include:
1. **Traffic Cone**: Located on the left side of the image, near the road, it serves as a warning sign to alert drivers of potential hazards or construction zones.
2. **Road Markings**: The white dashed lines on the road indicate lane divisions, which are crucial for guiding traffic and ensuring orderly movement.
3. **Pedestrian Crossing**: The pedestrian crossing sign is visible, indicating a designated area for pedestrians to cross the street safely.
4. **Construction Area**: The large building under construction with scaffolding and construction materials is a significant object, as it may affect traffic flow and require drivers to be cautious.
5. **Vehicles**: The various cars and trucks on the road are important as they represent the traffic flow and potential hazards that drivers need to be aware of.
6. **Pedestrian Crossing Sign**: The pedestrian crossing sign is another critical object, as it indicates a safe area for pedestrians to cross the street.
These objects are essential for the future reasoning and driving decisions as they provide clear guidance for drivers, ensure safety, and maintain orderly traffic flow. |
| Mini-InternVL2-2B-DA-DriveLM | There is a black car to the back of the ego vehicle, a gray sedan to the front of the ego vehicle, a red car to the front of the ego vehicle, a white SUV to the back of the ego vehicle, and a green light to the front of the ego vehicle. The IDs of these objects are 1, 2, 3, 4, and 5. |
| llama_adapter_v2_multimodal7b | In the current scene, the important objects to consider for future reasoning and driving decisions include the cars, trucks, and traffic lights. The cars and trucks are driving down the street, and the traffic lights are present at various locations, indicating the need for drivers to pay attention to their signals and obey the rules. Additionally, there are buildings in the background, which may be important for navigation or identifying the location. The presence of these objects highlights the need for drivers to be aware of their surroundings and follow traffic rules to ensure safety and smooth traffic flow. |
| InternVL2-2b-LoRA-25k-drivelm | There is a black SUV to the back of the ego vehicle, a black SUV to the back of the ego vehicle, a red SUV to the front of the ego vehicle, a black SUV to the front of the ego vehicle, and a white truck to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,1080.0,525.8>, <c2,CAM_BACK,1080.0,505.8>, <c3,CAM_FRONT,1080.0,500.8>, <c4,CAM_FRONT,1080.0,500.8>, and <c5,CAM_FRONT,1080.0,500.8>. |
| InternVL2-2b-LoRA-25k-drivelm-offline-redcircle-ctag-bkgd | There is a white SUV to the back of the ego vehicle, a black sedan to the front of the ego vehicle, a red car to the front right of the ego vehicle, and a red light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,897.5,530.8>, <c2,CAM_FRONT,791.7,545.8>, <c3,CAM_FRONT_RIGHT,30.9,625.5>, and <c4,CAM_FRONT,750.3,350.1>. |
| InternVL2-2b-LoRA-25k_plus_DL-PL-10pct | There is a black car to the front of the ego vehicle, a red car to the front of the ego vehicle, a black SUV to the front of the ego vehicle, a white truck to the front of the ego vehicle, a black sedan to the front of the ego vehicle, and a white truck to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1010.0,525.0>, <c2,CAM_FRONT,1010.0,505.0>, <c3,CAM_FRONT,1010.0,505.0>, <c4,CAM_FRONT,1010.0,505.0>, <c5,CAM_FRONT,1010.0,505.0>, and <c6,CAM_FRONT,1010.0,505.0>. |
| InternVL2-2b-LoRA-300k-drivelm | There is a black car to the back of the ego vehicle, a black SUV to the front of the ego vehicle, a white truck to the front of the ego vehicle, a red car to the front right of the ego vehicle, and a white truck to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,1080.0,520.0>, <c2,CAM_FRONT,1010.8,505.8>, <c3,CAM_FRONT,1010.8,490.0>, <c4,CAM_FRONT_RIGHT,1010.8,490.0>, and <c5,CAM_FRONT,1010.8,490.0>. |
| llava-v1.6-mistral-7b-hf | In the current scene, there are several important objects that drivers should consider for future reasoning and driving decisions:
1. Traffic lights: There are multiple traffic lights visible in the image, which control the flow of traffic at intersections.
2. Road signs: There are various road signs indicating directions, speed limits, and other important information for drivers.
3. Construction zones: There are construction zones indicated by barriers and signs, which may require drivers to slow down or change lanes.
4. Vehicles: There are numerous vehicles, including cars and trucks, which drivers need to be aware of to maintain safe distances and avoid collisions.
5. Pedestrians: There are pedestrians visible in the image, which drivers should be cautious of when crossing intersections or making turns.
6. Traffic cones: There are traffic cones placed in the road, which may indicate a temporary change in traffic patterns or a hazard that drivers should be aware of.
7. Buildings: The presence of buildings suggests that the area is urban, which may involve more complex traffic patterns and a higher density of vehicles and pedestrians.
8. Road markings: There are white lines on the road, which indicate lanes and help drivers maintain their position in the traffic flow.
9. Fire hydrants: There are fire hydrants visible on the sidewalk, which drivers should be cautious of to avoid parking or driving too close to them.
10. Streetlights: There are streetlights visible, which provide illumination for nighttime driving.
These objects are crucial for drivers to navigate safely and efficiently through the city. |
| 1 | Questionperception | What is the moving status of object <c1,CAM_BACK,897.5,530.8>? Please select the correct answer from the following options: A. Stopped. B. Drive backward. C. Going ahead. D. Turn right. |
| GT Answer | C |
| InternVL2-2B | The moving status of object <c1,CAM_BACK,897.5,530.8> is C. Going ahead. |
| Mini-InternVL2-2B-DA-DriveLM | C |
| llama_adapter_v2_multimodal7b | The moving status of object <c1,CAM_BACK,897.5,530.8> is "Going ahead." |
| InternVL2-2b-LoRA-25k-drivelm | C |
| InternVL2-2b-LoRA-25k-drivelm-offline-redcircle-ctag-bkgd | C |
| InternVL2-2b-LoRA-25k_plus_DL-PL-10pct | C |
| InternVL2-2b-LoRA-300k-drivelm | C. Going ahead. |
| llava-v1.6-mistral-7b-hf | A. Stopped. |
| 2 | Questionprediction | What object should the ego vehicle notice first when the ego vehicle is getting to the next possible location? What is the state of the object that is first noticed by the ego vehicle and what action should the ego vehicle take? What object should the ego vehicle notice second when the ego vehicle is getting to the next possible location? What is the state of the object perceived by the ego vehicle as second and what action should the ego vehicle take? What object should the ego vehicle notice third? What is the state of the object perceived by the ego vehicle as third and what action should the ego vehicle take? |
| GT Answer | Firstly notice that <c3,CAM_FRONT_RIGHT,30.9,625.5>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Secondly notice that <c2,CAM_FRONT,791.7,545.8>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Thirdly notice that <c4,CAM_FRONT,750.3,350.1>. The object is a traffic sign, so the ego vehicle should keep going ahead at the same speed. |
| InternVL2-2B | When the ego vehicle is getting to the next possible location, it should first notice the traffic light at the intersection. The state of the traffic light is green, indicating that vehicles can proceed. The ego vehicle should then proceed through the intersection. |
| Mini-InternVL2-2B-DA-DriveLM | Firstly, notice that the object in front of the ego vehicle is going ahead. The ego vehicle should continue going ahead at the same speed. Secondly, notice that the object in front of the ego vehicle is going ahead. The ego vehicle should continue going ahead at the same speed. Thirdly, notice that the object in front of the ego vehicle is going ahead. The ego vehicle should continue going ahead at the same speed. |
| llama_adapter_v2_multimodal7b | When the ego vehicle is getting to the next possible location, it should first notice the traffic light, which is in the process of turning green. The ego vehicle should then take the appropriate action, which is to accelerate and continue driving through the intersection. Next, the ego vehicle should notice the construction sign, which is in the process of turning red. The ego vehicle should then take the appropriate action, which is to stop or slow down, as the construction sign indicates that there might be roadwork or a temporary traffic restriction ahead. Finally, the ego vehicle should notice the car in front of it, which is also stopped at the intersection. The ego vehicle should then take the appropriate action, which is to continue driving cautiously, as the car in front of it might be waiting for the traffic light to change or for the construction sign to turn green. |
| InternVL2-2b-LoRA-25k-drivelm | Firstly, notice that <c3,CAM_FRONT,1080.8,480.8>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Secondly, notice that <c2,CAM_FRONT,1080.8,480.8>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice that <c1,CAM_FRONT,1080.8,480.8>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. |
| InternVL2-2b-LoRA-25k-drivelm-offline-redcircle-ctag-bkgd | Firstly, notice that <c3,CAM_FRONT_RIGHT,30.9,625.5>. The object is stationary, so the ego vehicle should continue ahead at the same speed. Secondly, notice that <c2,CAM_FRONT,791.7,545.8>. The object is stationary, so the ego vehicle should continue ahead at the same speed. Thirdly, notice that <c4,CAM_FRONT,750.3,350.1>. The object is a traffic sign, so the ego vehicle should continue ahead at the same speed. |
| InternVL2-2b-LoRA-25k_plus_DL-PL-10pct | Firstly, notice that <c3,CAM_FRONT,1080.0,525.0>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Secondly, notice that <c1,CAM_FRONT,1080.0,525.0>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice that <c2,CAM_BACK,1080.0,525.0>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. |
| InternVL2-2b-LoRA-300k-drivelm | Firstly, notice <c3,CAM_FRONT,1080.0,525.8>. The object is a traffic sign, so the ego vehicle should continue ahead at the same speed. Secondly, notice <c1,CAM_FRONT,1080.0,505.8>. The object is going ahead, so the ego vehicle should continue ahead at the same speed. Thirdly, notice <c2,CAM_FRONT,1010.0,505.8>. The object is going ahead, so the ego vehicle should continue ahead at the same speed. |
| llava-v1.6-mistral-7b-hf | The image you've provided appears to be a collage of different traffic scenarios, each with its own set of objects and actions. Here's a description of the objects and actions in each scenario:
1. **CAM_BACK_LEFT**: The ego vehicle should notice the traffic light first. The traffic light is currently red, indicating that the ego vehicle should stop.
2. **CAM_FRONT_LEFT**: The ego vehicle should notice the construction zone first. The construction zone is marked by orange cones and barriers, indicating that the ego vehicle should slow down and be prepared for potential lane closures or detours.
3. **CAM_BACK_RIGHT**: The ego vehicle should notice the pedestrian crossing first. The pedestrian is crossing the street, so the ego vehicle should yield to the pedestrian and wait for them to cross safely.
4. **CAM_FRONT_RIGHT**: The ego vehicle should notice the traffic light first. The traffic light is currently red, indicating that the ego vehicle should stop.
5. **CAM_BACK_LEFT**: The ego vehicle should notice the construction zone first. The construction zone is marked by orange cones and barriers, indicating that the ego vehicle should slow down and be prepared for potential lane closures or detours.
6. **CAM_FRONT_LEFT**: The ego vehicle should notice the traffic light first. The traffic light is currently red, indicating that the ego vehicle should stop.
7. **CAM_BACK_RIGHT**: The ego vehicle should notice the traffic light first. The traffic light is currently red, indicating that the ego vehicle should stop.
8. **CAM_FRONT_Right**: The ego vehicle should notice the traffic light first. The traffic light is currently red, indicating that the ego vehicle should stop.
In each scenario, the ego vehicle should follow the traffic rules and signals, yield to pedestrians, and be cautious of construction zones. The actions the ego vehicle should take are to stop when required, slow down when approaching a construction zone, and yield to pedestrians when they are crossing the street. |
| 3 | Questionprediction | Is <c1,CAM_BACK,897.5,530.8> a traffic sign or a road barrier? |
| GT Answer | No. |
| InternVL2-2B | To determine if the coordinates <c1,CAM_BACK,897.5,530.8> represent a traffic sign or a road barrier, let's analyze the image in detail:
1. **Location Analysis**:
- The coordinates provided are within the image, specifically at the bottom right corner.
- The coordinates are given in a format that is typical for GPS coordinates, with the first two digits representing the latitude and the last two digits representing the longitude.
2. **Visual Inspection**:
- Upon closer inspection, the coordinates are located within the roadway, not on a sign or barrier.
- The coordinates are within the visible area of the image, not on a sign or barrier that would be out of the frame.
3. **Contextual Understanding**:
- The coordinates are within the road, which is consistent with the location of a traffic sign or road barrier.
- There are no visible signs or barriers in the immediate vicinity of the coordinates.
4. **Conclusion**:
- Given the coordinates are within the road, it is reasonable to conclude that they represent a road barrier.
In conclusion, the coordinates <c1,CAM_BACK,897.5,530.8> are a road barrier. |
| Mini-InternVL2-2B-DA-DriveLM | No. |
| llama_adapter_v2_multimodal7b | The traffic sign in the image is a "CAM_BACK" sign, which is likely a warning sign indicating that the camera is in the back of the vehicle. |
| InternVL2-2b-LoRA-25k-drivelm | No. |
| InternVL2-2b-LoRA-25k-drivelm-offline-redcircle-ctag-bkgd | No. |
| InternVL2-2b-LoRA-25k_plus_DL-PL-10pct | No. |
| InternVL2-2b-LoRA-300k-drivelm | No. |
| llava-v1.6-mistral-7b-hf | The image you've provided appears to show a series of traffic signs and road barriers. The sign labeled "CAM_BACK" is a traffic sign, specifically a "Rear View Mirror" sign, which is used to indicate that drivers must use their rear view mirrors to check for oncoming traffic before making a left turn. It is not a road barrier. |
| 4 | Questionplanning | What actions could the ego vehicle take based on <c1,CAM_BACK,897.5,530.8>? Why take this action and what's the probability? |
| GT Answer | The action is to keep going at the same speed. The reason is that the object has little reference value for the ego vehicle, and the probability is high. |
| InternVL2-2B | The ego vehicle, indicated by the car in the center of the image, is currently in the middle of a traffic intersection. The action it could take is to proceed straight or turn left.
### Chain of Thought (CoT) Analysis:
1. **Current Position and Direction**: The ego vehicle is currently at the intersection, facing a left turn.
2. **Intersection Signals**: The intersection has a pedestrian crossing, a no left turn sign, and a stop sign.
3. **Traffic Conditions**: The traffic light is green, indicating it is safe to proceed.
4. **Proceeding or Turning**: Given the green light and the direction of the traffic, the ego vehicle should proceed straight or turn left.
### Probability of Taking the Action:
- **Proceed Straight**: The green light is visible, and there are no immediate traffic signals that would prevent the ego vehicle from proceeding straight.
- **Turn Left**: The left turn sign is visible, and the ego vehicle is facing the left turn. The green light is also visible, making it safe to make a left turn.
### Conclusion:
Given the green light and the visibility of the left turn sign, the ego vehicle has a high probability of proceeding straight or turning left at this intersection. |
| Mini-InternVL2-2B-DA-DriveLM | The action is to keep going at the same speed. The reason is that there is no safety issue. The probability is high. |
| llama_adapter_v2_multimodal7b | Based on the given coordinates, the ego vehicle is at the intersection of a one-way street and a two-way street. The vehicle could take the following actions:1. Turn left onto the two-way street, which is the most likely action as it is a one-way street. The probability of this action is high, as the vehicle is already on the one-way street and turning left would be the most direct route to continue on the two-way street.2. Turn right onto the two-way street, which is less likely as the vehicle is already on the one-way street and turning right would require crossing the one-way street and entering the two-way street from the opposite direction.3. Continue straight ahead, which is also less likely as the vehicle is already on the one-way street and turning straight ahead would require crossing the one-way street and continuing on the one-way street.4. Turn right onto the one-way street, which is also less likely as the vehicle is already on the one-way street and turning right would require crossing the one-way street and entering the one-way street from the opposite direction.In summary, the most likely action for the ego vehicle is to turn left onto the two-way street, as it is the most direct route to continue on the two-way street. |
| InternVL2-2b-LoRA-25k-drivelm | The action is to keep going at the same speed. The reason is that there is no safety issue, and the probability is high. |
| InternVL2-2b-LoRA-25k-drivelm-offline-redcircle-ctag-bkgd | The action is to brake gently to a stop. The reason is to follow the traffic rules, which is high probability. |
| InternVL2-2b-LoRA-25k_plus_DL-PL-10pct | The action is to keep going at the same speed. The reason is that there is no safety issue. The probability is high. |
| InternVL2-2b-LoRA-300k-drivelm | The action is to keep going at the same speed. The reason is that there is no safety issue. The probability is high. |
| llava-v1.6-mistral-7b-hf | The image you've provided appears to be a sequence of images showing a vehicle's perspective at different points in time, likely from a camera mounted on the front of the vehicle. The sequence is labeled with different actions that the ego vehicle could take:
1. CAM_FRONT_LEFT
2. CAM_BACK_LEFT
3. CAM_BACK_RIGHT
4. CAM_BACK_RIGHT
5. CAM_BACK_RIGHT
Based on the label <c1,CAM_BACK,897.5,530.8>, the ego vehicle is currently in a situation where it is facing the back of another vehicle. The vehicle is likely to be in a lane to the left of the ego vehicle, as indicated by the "CAM_BACK" label.
The action the ego vehicle could take is to change lanes to the right (CAM_BACK_RIGHT). This action is typically taken when a vehicle is in a lane that is not its intended destination, and it needs to move to the right to continue on its intended path.
The probability of this action being the correct one depends on several factors:
- The intended destination of the ego vehicle. If the vehicle's intended destination is to the right, then changing lanes to the right is the correct action.
- The traffic conditions in the lanes to the right. If the lanes to the right are clear and safe to merge into, then changing lanes to the right is a good decision.
- The presence of any obstacles or hazards in the lanes to the right. If there are any obstacles or hazards in the lanes to the right, then changing lanes to the right might not be the safest option.
- The speed and position of the vehicles in the lanes to the right. If the vehicles in the lanes to the right are moving too fast or are too close, changing lanes to the right might not be safe.
In general, the ego vehicle should consider the traffic conditions, the presence of any obstacles or hazards, and the speed and position of the vehicles in the lanes to the right before deciding whether to change lanes to the right. If the conditions are favorable, then changing lanes to the right is likely the correct action. |
| 5 | Questionplanning | What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,897.5,530.8>? |
| GT Answer | Brake suddenly. |
| InternVL2-2B | The ego vehicle, which is the car in the foreground, has several actions that could potentially lead to a collision with the vehicle in the background, specifically the one labeled as "<c1,CAM_BACK,897.5,530.8>". Here are the key actions:
1. **Driving Too Fast**: The ego vehicle is driving at a relatively high speed, which could lead to a sudden stop or slow down, potentially causing the vehicle in the background to swerve or lose control.
2. **Driving Carelessly**: The ego vehicle is driving recklessly, such as swerving into the lane of the vehicle in the background, which could cause the latter to swerve or collide with the ego vehicle.
3. **Speeding Too Fast**: The ego vehicle is speeding, which could lead to a collision if the vehicle in the background is unable to react in time.
4. **Driving in the Wrong Lane**: The ego vehicle is in the wrong lane, which could cause the vehicle in the background to swerve or collide with the ego vehicle if it is not aware of the lane change.
5. **Driving in a No-Parking Zone**: The ego vehicle is driving in a no-parking zone, which could lead to a collision if the vehicle in the background is attempting to park or maneuver around the ego vehicle.
6. **Driving in a No-Stopping Zone**: The ego vehicle is driving in a no-stopping zone, which could lead to a collision if the vehicle in the background is attempting to stop or maneuver around the ego vehicle.
7. **Driving in a No-Traffic Zone**: The ego vehicle is driving in a no-traffic zone, which could lead to a collision if the vehicle in the background is attempting to pass through the ego vehicle.
8. **Driving in a No-Sign Zone**: The ego vehicle is driving in a no-sign zone, which could lead to a collision if the vehicle in the background is attempting to pass through the ego vehicle.
9. **Driving in a No-Driveway Zone**: The ego vehicle is driving in a no-driveway zone, which could lead to a collision if the vehicle in the background is attempting to pass through the ego vehicle.
10. **Driving in a No-Driveway Zone**: The ego vehicle is driving in a no-driveway zone, which could lead to a collision if the vehicle in the background is attempting to pass through |
| Mini-InternVL2-2B-DA-DriveLM | No such action will lead to a collision. |
| llama_adapter_v2_multimodal7b | The ego vehicle is driving in the wrong direction on a one-way street, which can lead to a collision with <c1,CAM_BACK,897.5,530.8>. The vehicle is also driving in the wrong lane, which increases the risk of an accident. Additionally, the ego vehicle is passing a construction zone, which requires extra caution and attention to avoid any potential hazards. The presence of other vehicles, such as the truck and the car, also adds to the complexity of the situation, as they may be moving in different directions or have limited visibility of the ego vehicle's actions. |
| InternVL2-2b-LoRA-25k-drivelm | Back up. |
| InternVL2-2b-LoRA-25k-drivelm-offline-redcircle-ctag-bkgd | Brake suddenly. |
| InternVL2-2b-LoRA-25k_plus_DL-PL-10pct | No such action will lead to a collision. |
| InternVL2-2b-LoRA-300k-drivelm | Back up. |
| llava-v1.6-mistral-7b-hf | The image you've provided shows a sequence of actions that can lead to a collision with a vehicle in the rear, as indicated by the "CAM_BACK" label. Here's a breakdown of the actions shown:
1. **CAM_BACK_LEFT**: The ego vehicle is turning left at an intersection.
2. **CAM_BACK_FRONT**: The vehicle is now facing forward, having completed the turn.
3. **CAM_BACK_RIGHT**: The vehicle is now turning right at the same intersection.
4. **CAM_BACK_LEFT**: The vehicle is again turning left, but this time it's making a U-turn, which means it's turning left to go back the way it came.
5. **CAM_BACK_FRONT**: The vehicle is now facing forward again, having completed the U-turn.
6. **CAM_BACK_RIGHT**: The vehicle is turning right, but this time it's making a right turn onto a different street.
7. **CAM_BACK_LEFT**: The vehicle is turning left, but this time it's making a left turn onto a different street.
8. **CAM_BACK_FRONT**: The vehicle is now facing forward, having completed the left turn.
9. **CAM_BACK_RIGHT**: The vehicle is turning right, but this time it's making a right turn onto a different street.
10. **CAM_BACK_LEFT**: The vehicle is turning left, but this time it's making a left turn onto a different street.
11. **CAM_BACK_FRONT**: The vehicle is now facing forward, having completed the left turn.
12. **CAM_BACK_RIGHT**: The vehicle is turning right, but this time it's making a right turn onto a different street.
13. **CAM_BACK_LEFT**: The vehicle is turning left, but this time it's making a left turn onto a different street.
14. **CAM_BACK_FRONT**: The vehicle is now facing forward, having completed the left turn.
15. **CAM_BACK_RIGHT**: The vehicle is turning right, but this time it's making a right turn onto a different street.
16. **CAM_BACK_LEFT**: The vehicle is turning left, but this time it' |
| 6 | Questionplanning | In this scenario, what are safe actions to take for the ego vehicle? |
| GT Answer | Keep going at the same speed, decelerate gradually without braking. |
| InternVL2-2B | Based on the image, the safe actions for the ego vehicle would include maintaining a safe following distance from the red SUV, ensuring that the vehicle in front of the ego vehicle is not moving too quickly, and possibly signaling to the red SUV to slow down or stop. The ego vehicle should also be prepared to react to any potential changes in traffic flow or road conditions, such as the red SUV potentially changing lanes or stopping. Additionally, the ego vehicle should be cautious of pedestrians and other vehicles, especially given the construction area in the background. |
| Mini-InternVL2-2B-DA-DriveLM | Slightly offset to the left, slightly offset to the right, and keep going at the same speed are safe actions to take for the ego vehicle in this scenario. |
| llama_adapter_v2_multimodal7b | In the image, there are multiple cars and trucks on the road, and a traffic light is present. To ensure safety, the ego vehicle should follow the traffic light signals and observe the right-of-way rules. When the traffic light turns green, the ego vehicle should proceed cautiously, checking for any pedestrians or other vehicles that may be crossing the intersection. When the traffic light turns red, the ego vehicle should come to a complete stop, and when the light turns green again, it should proceed cautiously. Additionally, the ego vehicle should maintain a safe distance from other vehicles, especially large trucks, and be prepared for sudden stops or changes in traffic flow. By following these safe actions, the ego vehicle can navigate the busy street and minimize the risk of accidents. |
| InternVL2-2b-LoRA-25k-drivelm | Keep going at the same speed, accelerate, and proceed. |
| InternVL2-2b-LoRA-25k-drivelm-offline-redcircle-ctag-bkgd | Brake gently to a stop, slightly offset to the left. |
| InternVL2-2b-LoRA-25k_plus_DL-PL-10pct | Keep going at the same speed, decelerate gradually without braking. |
| InternVL2-2b-LoRA-300k-drivelm | Keep going at the same speed, decelerate gradually without braking. |
| llava-v1.6-mistral-7b-hf | In the given scenario, the ego vehicle is a car driving on a busy city street with various traffic signs and signals. Here are some safe actions the driver should take:
1. **Follow Traffic Signs and Signals**: The driver should obey all traffic signs and signals, including speed limits, stop signs, and traffic lights.
2. **Maintain a Safe Distance**: The driver should maintain a safe distance from other vehicles, especially when following a car that is making a turn. This allows for enough reaction time in case of sudden stops or changes in direction.
3. **Be Aware of Construction Zones**: The driver should be cautious in areas where construction is taking place, as there may be temporary changes in traffic patterns or reduced lanes.
4. **Use Turn Signals**: When making turns, the driver should use the appropriate turn signals to communicate their intentions to other road users.
5. **Stay in the Correct Lane**: The driver should stay in the correct lane, especially when approaching intersections or when there are separate lanes for different directions of traffic.
6. **Be Prepared for Pedestrians**: The driver should be prepared for pedestrians crossing the street, especially at crosswalks.
7. **Watch for Cyclists**: The driver should be aware of cyclists and give them the right of way when required.
8. **Be Cautious at Intersections**: The driver should be cautious at intersections, especially when turning, as other vehicles may not be aware of the turning car.
9. **Use Mirrors and Blind Spot Checks**: Regularly checking mirrors and blind spots can help the driver be aware of other vehicles that may not be visible in the rearview mirror.
10. **Stay Alert**: The driver should stay alert and focused on the road, avoiding distractions such as using a mobile phone or eating while driving.
By following these safety guidelines, the driver can navigate the busy city street safely and responsibly. |
| 7 | Questionbehavior | Predict the behavior of the ego vehicle. Please select the correct answer from the following options: A. The ego vehicle is steering to the right. The ego vehicle is driving with normal speed. B. The ego vehicle is going straight. The ego vehicle is driving slowly. C. The ego vehicle is going straight. The ego vehicle is driving fast. D. The ego vehicle is steering to the right. The ego vehicle is driving very fast. |
| GT Answer | C |
| InternVL2-2B | Based on the image, the ego vehicle is driving straight. The image shows the ego vehicle in the center of the road with no visible signs of steering to the right or driving very fast. The ego vehicle is also not shown driving with normal speed, driving slowly, or driving fast. Therefore, the correct answer is:
C. The ego vehicle is going straight. The ego vehicle is driving fast. |
| Mini-InternVL2-2B-DA-DriveLM | B |
| llama_adapter_v2_multimodal7b | The correct answer is B. The ego vehicle is driving with normal speed. |
| InternVL2-2b-LoRA-25k-drivelm | B |
| InternVL2-2b-LoRA-25k-drivelm-offline-redcircle-ctag-bkgd | B |
| InternVL2-2b-LoRA-25k_plus_DL-PL-10pct | B |
| InternVL2-2b-LoRA-300k-drivelm | B. The ego vehicle is going straight. The ego vehicle is driving slowly. |
| llava-v1.6-mistral-7b-hf | Based on the image provided, the ego vehicle is driving straight and appears to be maintaining a normal speed. There are no indications that the vehicle is steering to the right or driving very fast. Therefore, the correct answer is B: The ego vehicle is going straight. The ego vehicle is driving slowly. |
