| 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 black small car to the front right of the ego vehicle, a black small car to the front of the ego vehicle, and a white sedan to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,601.5,591.7>, <c2,CAM_FRONT,586.7,535.8>, and <c3,CAM_FRONT,685.0,475.8>. |
| InternVL2-2B | In the current scene, the important objects include:
1. The car in the foreground: The car is the primary object of interest. It is the closest object to the camera and is moving towards the right side of the frame. The car's position and movement are crucial for future reasoning and driving decisions.
2. The road: The road is the primary surface on which the car is traveling. It is the most prominent feature in the scene and is essential for understanding the car's trajectory and potential hazards.
3. The traffic lights: The traffic lights are visible in the top left corner of the image. They are important for understanding the traffic flow and potential intersections or stops.
4. The overhead bridge: The overhead bridge is a significant structure in the scene. It provides a visual reference for the car's position and direction.
5. The bus: The bus is visible in the bottom right corner of the image. It is an important object for understanding the traffic density and potential stops or intersections.
6. The streetlights: The streetlights are visible in the top left corner of the image. They provide illumination and help in understanding the time of day and the visibility conditions.
These objects are crucial for future reasoning and driving decisions as they provide context and information about the car's position, traffic flow, and potential hazards. |
| Mini-InternVL2-2B-DA-DriveLM | There is a black car to the front of the ego vehicle, a white sedan to the front of the ego vehicle, a white sedan to the front of the ego vehicle, and a white sedan to the front of the ego vehicle. The IDs of these objects are <Black car>, <White sedan>, <White sedan>, and <White sedan>. |
| llama_adapter_v2_multimodal7b | In the current scene, the important objects to consider for future reasoning and driving decisions include the bus, the car, and the traffic light. The bus is driving down the street, and the car is following closely behind it. The traffic light is also present, indicating the right of way for the bus and possibly other vehicles. The driver should be aware of these objects and their positions in relation to the road to ensure safe and smooth driving. |
| InternVL2-2b-LoRA-25k-drivelm | There is a white truck to the back of the ego vehicle, a black car to the front of the ego vehicle, a white truck to the back of the ego vehicle, and a white bus to the back right of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,1080.0,525.8>, <c2,CAM_FRONT,1080.0,495.0>, <c3,CAM_BACK,1080.0,525.8>, and <c4,CAM_BACK_RIGHT,1080.0,525.8>. |
| InternVL2-2b-LoRA-25k-drivelm-offline-redcircle-ctag-bkgd | There is a black car to the front right of the ego vehicle, a black car to the front of the ego vehicle, and a black sedan to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT_RIGHT,601.5,591.7>, <c2,CAM_FRONT,586.7,535.8>, and <c3,CAM_FRONT,685.0,475.8>. |
| InternVL2-2b-LoRA-25k_plus_DL-PL-10pct | There is a white sedan to the front of the ego vehicle, a white sedan to the front of the ego vehicle, a white sedan to the front of the ego vehicle, a white bus to the back of the ego vehicle, and a white bus to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1010.0,525.0>, <c2,CAM_FRONT,1010.0,525.0>, <c3,CAM_FRONT,1010.0,525.0>, <c4,CAM_BACK,1010.0,525.0>, and <c5,CAM_FRONT,1010.0,525.0>. |
| InternVL2-2b-LoRA-300k-drivelm | There is a white sedan to the front of the ego vehicle, a white sedan to the front of the ego vehicle, a white sedan to the front of the ego vehicle, a white sedan to the front of the ego vehicle, a white sedan to the front of the ego vehicle, a white sedan to the front of the ego vehicle, a white sedan to the front of the ego vehicle, a white sedan to the front of the ego vehicle, a white sedan to the front of the ego vehicle, a white sedan to the front of the ego vehicle, a white sedan to the front of the ego vehicle, a white sedan to the front of the ego vehicle, a white sedan to the front of the ego vehicle, a white sedan to the front of the ego vehicle, a white sedan to the front of the ego vehicle, a white sedan to the front of the ego vehicle, a white sedan to the front of the ego vehicle, a white sedan to the front of the ego vehicle, a white sedan to the front of the ego vehicle, a white sedan to the front of the ego vehicle, a white sedan to the front of the ego vehicle, a white sedan to the front of the ego vehicle, a white sedan to the front of the ego vehicle, a white sedan to the front of the ego vehicle, a white sedan to the front of the ego vehicle, a white sedan to the front of the ego vehicle, a white sedan to the front of the ego vehicle, a white sedan to the front of the ego vehicle, a white sedan to the front of the ego vehicle, a white sedan to the front of the ego vehicle, a white sedan to the front of the ego vehicle, a white sedan to the front of the ego vehicle, a white sedan to the front of the ego vehicle, a white sedan to the front of the ego vehicle, a white sedan to the front of the ego vehicle, a white sedan to the front of the ego vehicle, a white sedan to the front of the ego vehicle, a white sedan to the front of the ego vehicle, a white sedan to the front of the ego vehicle, a white sedan to the front of the ego vehicle, a white sedan to the front of the ego vehicle, a white sedan to the front of the ego vehicle, a white sedan to the front of the ego vehicle, a white sedan to the front of the ego vehicle, a white sedan to the front of the ego vehicle, a white sedan to the front of the ego vehicle, a white sedan to |
| llava-v1.6-mistral-7b-hf | In the current scene, the important objects to consider for future reasoning and driving decisions include:
1. The road ahead, which appears to be wet, indicating potential for hydroplaning or reduced traction.
2. The presence of multiple vehicles, including cars and a bus, which suggests that the driver should be aware of other road users and maintain a safe distance.
3. The traffic lights, which are essential for understanding when it is safe to proceed or when to stop.
4. The pedestrian crossing, which indicates that there may be pedestrians crossing the road, requiring the driver to be cautious and prepared to stop if necessary.
5. The road markings, which help the driver understand the layout of the road and where to position the vehicle.
6. The lighting conditions, which seem to be nighttime, requiring the driver to use headlights and be extra vigilant for any obstacles or hazards.
7. The presence of a bus stop, which might indicate a bus stop ahead, requiring the driver to be prepared to yield to a bus if necessary.
These objects are crucial for safe driving and navigating the road ahead. |
| 1 | Questionperception | What is the moving status of object <c1,CAM_FRONT_RIGHT,601.5,591.7>? Please select the correct answer from the following options: A. Stopped. B. Reverse parking. C. Going ahead. D. Turn left. |
| GT Answer | C |
| InternVL2-2B | The moving status of object <c1,CAM_FRONT_RIGHT,601.5,591.7> is C. Going ahead. |
| Mini-InternVL2-2B-DA-DriveLM | C |
| llama_adapter_v2_multimodal7b | The moving status of object <c1,CAM_FRONT_RIGHT,601.5,591.7> 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 | C. Going ahead |
| 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 <c1,CAM_FRONT_RIGHT,601.5,591.7>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Secondly, notice that <c2,CAM_FRONT,586.7,535.8>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice that <c3,CAM_FRONT,685.0,475.8>. The object is going ahead, 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 notice the bus first. The state of the bus is stationary. The ego vehicle should take the action of slowing down or stopping to ensure a safe distance from the bus. The object that the ego vehicle should notice second is the bus. The state of the bus is stationary. The ego vehicle should take the action of slowing down or stopping to ensure a safe distance from the bus. The object that the ego vehicle should notice third is the bus. The state of the bus is stationary. The ego vehicle should take the action of slowing down or stopping to ensure a safe distance from the bus. |
| 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 state of red. The ego vehicle should then take the appropriate action, which is to stop at the red light. Next, the ego vehicle should notice the bus, which is in the state of moving. The ego vehicle should then take the appropriate action, which is to proceed cautiously and maintain a safe distance from the bus. Finally, the ego vehicle should notice the truck, which is in the state of moving. The ego vehicle should then take the appropriate action, which is to proceed cautiously and maintain a safe distance from the truck. |
| InternVL2-2b-LoRA-25k-drivelm | Firstly, notice that <c3,CAM_FRONT,1080.8,525.0>. The object is going ahead, so the ego vehicle should continue going ahead at the same speed. Secondly, notice that <c2,CAM_FRONT,1080.8,505.0>. The object is going ahead, so the ego vehicle should continue going ahead at the same speed. Thirdly, notice that <c1,CAM_BACK,1080.8,525.0>. The object is going ahead, so the ego vehicle should continue going ahead at the same speed. |
| InternVL2-2b-LoRA-25k-drivelm-offline-redcircle-ctag-bkgd | Firstly, notice that <c2,CAM_FRONT,586.7,535.8>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Secondly, notice that <c3,CAM_FRONT,685.0,475.8>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice that <c1,CAM_FRONT_RIGHT,601.5,591.7>. The object is going ahead, so the ego vehicle should keep going 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 continue 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 continue 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 continue going ahead at the same speed. |
| InternVL2-2b-LoRA-300k-drivelm | Firstly, notice that <c3,CAM_FRONT,1080.0,540.8>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Secondly, notice that <c1,CAM_FRONT,1080.0,520.8>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice that <c2,CAM_FRONT,1020.8,520.8>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. |
| llava-v1.6-mistral-7b-hf | The images provided show a sequence of camera views from a vehicle's perspective, likely from a dashcam or a surveillance camera. Here's a description of the objects and actions in each image:
1. **CAM_FRONT_LEFT**: The first object the ego vehicle should notice is the traffic light. It is currently red, indicating that the ego vehicle should stop.
2. **CAM_BACK_LEFT**: The second object is the traffic light again, but now it is green. The ego vehicle should proceed forward, as the traffic light is signaling it is safe to move.
3. **CAM_FRONT_RIGHT**: The third object is the traffic light, which is still red. The ego vehicle should stop, as the traffic light is still signaling to stop.
4. **CAM_BACK_RIGHT**: The fourth object is the traffic light, which is now green. The ego vehicle should proceed forward, as the traffic light is signaling it is safe to move.
5. **CAM_FRONT_LEFT**: The fifth object is the traffic light, which is still red. The ego vehicle should stop, as the traffic light is still signaling to stop.
6. **CAM_BACK_LEFT**: The sixth object is the traffic light, which is now green. The ego vehicle should proceed forward, as the traffic light is signaling it is safe to move.
7. **CAM_FRONT_RIGHT**: The seventh object is the traffic light, which is still red. The ego vehicle should stop, as the traffic light is still signaling to stop.
8. **CAM_BACK_RIGHT**: The eighth object is the traffic light, which is now green. The ego vehicle should proceed forward, as the traffic light is signaling it is safe to move.
9. **CAM_FRONT_LEFT**: The ninth object is the traffic light, which is still red. The ego vehicle should stop, as the traffic light is still signaling to stop.
10. **CAM_BACK_LEFT**: The tenth object is the traffic light, which is now green. The ego vehicle should proceed forward, as the traffic light is signaling it is safe to move.
11. **CAM_FRONT_RIGHT**: The eleventh object is the traffic light, which is still red. The ego vehicle should stop, as the traffic light is still |
| 3 | Questionprediction | Is <c1,CAM_FRONT_RIGHT,601.5,591.7> a traffic sign or a road barrier? |
| GT Answer | No. |
| InternVL2-2B | To determine if the coordinates <c1,CAM_FRONT_RIGHT,601.5,591.7> represent a traffic sign or a road barrier, let's analyze the image in detail.
1. **Location Analysis**:
- The coordinates provided are within the frame of the image.
- The coordinates are given in a format that typically represents a point on the image, with the x-coordinate (c1) and y-coordinate (601.5, 591.7).
2. **Contextual Understanding**:
- The coordinates are within the middle of the image, which is a common location for traffic signs and road barriers.
- The image shows a road with multiple lanes, vehicles, and infrastructure like overhead lights and road signs.
3. **Identification of Objects**:
- **Traffic Signs**: Typically, traffic signs are placed at specific locations on the road to indicate directions, speed limits, or other important information.
- **Road Barriers**: Road barriers are usually placed at the edges of the road to control vehicle flow or to prevent accidents.
4. **Conclusion**:
- Given the coordinates are within the middle of the image, it is reasonable to conclude that they represent a point on the road, likely a traffic sign or a road barrier.
Therefore, the coordinates <c1,CAM_FRONT_RIGHT,601.5,591.7> are most likely a traffic sign or a road barrier. |
| Mini-InternVL2-2B-DA-DriveLM | No. |
| llama_adapter_v2_multimodal7b | The image does not provide enough information to confidently determine whether the <c1,CAM_FRONT_RIGHT,601.5,591.7> is a traffic sign or a road barrier. It could be either, depending on the context and the specific location within the image. |
| 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 be a collage of different scenes, possibly from a dashcam or a series of photos taken from a vehicle. The image labeled "<c1,CAM_FRONT_RIGHT,601.5,591.7>" shows a view from the front right camera of a vehicle, likely a bus or a truck, given the angle and the presence of a large vehicle.
The image does not show a traffic sign or a road barrier. It shows a road with vehicles, and the angle suggests it was taken from the driver's perspective. The numbers and letters in the image likely refer to a specific camera angle or a timestamp, but they do not correspond to any standard traffic sign or barrier. |
| 4 | Questionplanning | What actions could the ego vehicle take based on <c1,CAM_FRONT_RIGHT,601.5,591.7>? 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 there is no safety issue. The probability of this action is high. |
| InternVL2-2B | Based on the given image, the ego vehicle is positioned at the rightmost lane of the road, and the camera is facing forward. The action the ego vehicle could take is to change lanes to the right. This action is likely taken to avoid a potential collision with a vehicle in the adjacent lane or to make a turn.
### Reasoning:
1. **Lane Change**: The ego vehicle is currently in the rightmost lane, which is a high-risk area for lane changes due to the presence of other vehicles and potential obstacles.
2. **Proximity to Adjacent Lane**: The ego vehicle is close to the rightmost lane, which is a common area for lane changes.
3. **Traffic Conditions**: The image shows other vehicles in the adjacent lane, indicating that there is a high likelihood of other vehicles being in the same lane as the ego vehicle.
4. **Speed and Position**: The ego vehicle is stationary, and the other vehicles are in motion, which increases the risk of a sudden lane change.
### Probability:
The probability of taking this action is high, given the following factors:
- **Lane Change Risk**: The ego vehicle is in a high-risk area for lane changes due to the presence of other vehicles.
- **Proximity to Adjacent Lane**: The ego vehicle is close to the rightmost lane, which is a common area for lane changes.
- **Traffic Conditions**: The image shows other vehicles in the adjacent lane, indicating a high likelihood of other vehicles being in the same lane as the ego vehicle.
- **Speed and Position**: The ego vehicle is stationary, and the other vehicles are in motion, increasing the risk of a sudden lane change.
### Conclusion:
Based on the given image, the ego vehicle should take the action of changing lanes to the right to avoid potential collisions and maintain its position in the road. The probability of this action is high due to the high-risk area, proximity to the adjacent lane, traffic conditions, and the ego vehicle's stationary position. |
| Mini-InternVL2-2B-DA-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. |
| llama_adapter_v2_multimodal7b | Based on the given coordinates, the ego vehicle is at the position <c1,CAM_FRONT_RIGHT,601.5,591.7>. The vehicle could take several actions, such as:1. Continue driving straight ahead, as it is currently doing.2. Turn right, as indicated by the CAM_FRONT_RIGHT coordinate.3. Turn left, as indicated by the CAM_LEFT coordinate.4. Turn back, as indicated by the CAM_BACK_RIGHT coordinate.5. Turn front, as indicated by the CAM_FRONT_RIGHT coordinate.The probability of the vehicle taking any of these actions depends on the vehicle's current speed, direction, and the surrounding traffic conditions. The vehicle might be approaching an intersection or a point where it needs to make a turn, so it is more likely to take one of the turning actions. However, the exact action taken cannot be determined solely based on the coordinates. |
| 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 keep going at the same speed. The reason is that there is no safety issue, and the probability is high. |
| 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 from a vehicle's camera system, showing different views of the road ahead. The text "CAM_FRONT_RIGHT,601.5,591.7" seems to be a timestamp or a reference to a specific frame or moment in the sequence.
Based on the timestamp, the ego vehicle could be taking the following actions:
1. **CAM_FRONT_RIGHT,601.5**: The vehicle is likely to be in the process of changing lanes to the right. This is a common action when a vehicle needs to merge into a different lane or when it's required to do so by traffic rules.
2. **CAM_FRONT_RIGHT,591.7**: The vehicle has successfully changed lanes to the right. It is now in the correct lane and should continue driving straight ahead.
The probability of the vehicle successfully changing lanes to the right is high, as the timestamp suggests that the vehicle has already completed the lane change. The vehicle's sensors and systems would have been monitoring the traffic situation and the lane change would have been executed when it was safe to do so.
It's important to note that the vehicle's sensors and systems are designed to make decisions based on the current state of the road and the traffic conditions. The vehicle would have assessed the safety of the lane change and would have executed the maneuver when it was safe to do so. |
| 5 | Questionplanning | What actions taken by the ego vehicle can lead to a collision with <c1,CAM_FRONT_RIGHT,601.5,591.7>? |
| GT Answer | Moderate right turn. |
| InternVL2-2B | The ego vehicle, represented by the car in the first image, is traveling straight in the lane marked "CAM_FRONT_LEFT." It is positioned directly in the lane ahead of the vehicle labeled "CAM_FRONT_RIGHT." The car is traveling at a consistent speed, and there are no visible signs of any imminent collision with the "CAM_FRONT_RIGHT" vehicle. However, the "CAM_FRONT_RIGHT" vehicle is moving towards the left lane, which is adjacent to the "CAM_FRONT_LEFT" lane.
If the ego vehicle were to continue straight and not react to the approaching "CAM_FRONT_RIGHT" vehicle, it could potentially collide with it. The "CAM_FRONT_RIGHT" vehicle is moving towards the left lane, which is the closest lane to the ego vehicle. The ego vehicle must be cautious and ensure it maintains a safe distance from the "CAM_FRONT_RIGHT" vehicle to avoid a collision. |
| Mini-InternVL2-2B-DA-DriveLM | No such action will lead to a collision. |
| llama_adapter_v2_multimodal7b | The ego vehicle is driving on a street with multiple other vehicles, including a bus, and a traffic light. The actions taken by the ego vehicle that could lead to a collision with <c1,CAM_FRONT_RIGHT,601.5,591.7> include:1. The ego vehicle is moving at a high speed, which increases the risk of a collision if it encounters another vehicle or obstacle suddenly.2. The ego vehicle is turning right, which requires it to change lanes and merge into the right lane. This action can lead to a collision if the ego vehicle does not yield to other vehicles or if the other vehicles do not have enough time to react.3. The ego vehicle is approaching a traffic light, which means it is approaching an intersection. If the ego vehicle does not stop or slow down at the traffic light, it could collide with another vehicle or obstacle at the intersection.4. The ego vehicle is driving in the dark, which can reduce visibility and make it more difficult for the driver to see other vehicles, pedestrians, or obstacles on the road.In summary, the actions of the ego vehicle, such as turning right, changing lanes, and driving in the dark, can increase the risk of a collision with <c1,CAM_FRONT_RIGHT,601.5,591.7>. |
| InternVL2-2b-LoRA-25k-drivelm | Sharp right turn. |
| InternVL2-2b-LoRA-25k-drivelm-offline-redcircle-ctag-bkgd | Sharp right turn. |
| InternVL2-2b-LoRA-25k_plus_DL-PL-10pct | Moderate right turn. |
| InternVL2-2b-LoRA-300k-drivelm | No such action will lead to a collision. |
| llava-v1.6-mistral-7b-hf | The image you've provided appears to be a series of snapshots from a vehicle's camera system, showing different views of the road ahead. The snapshots are labeled with different camera angles:
1. CAM_FRONT_LEFT
2. CAM_FRONT_RIGHT
3. CAM_BACK_LEFT
4. CAM_BACK_RIGHT
To avoid a collision with the vehicle labeled as <c1,CAM_FRONT_RIGHT,601.5,591.7>, the ego vehicle should take the following actions:
1. **Maintain a Safe Following Distance**: The ego vehicle should ensure it maintains a safe distance from the vehicle in front of it, especially when the road ahead is dark and visibility is reduced.
2. **Use Headlights**: The ego vehicle should turn on its headlights to improve visibility and signal its presence to other drivers.
3. **Stay Alert**: The driver should stay alert and focused on the road ahead, anticipating any changes in traffic or road conditions.
4. **Slow Down**: If the road ahead is dark and visibility is poor, the driver should reduce their speed to ensure they have enough time to react to any potential hazards.
5. **Use Indicators**: When changing lanes or making turns, the driver should use their turn signals to communicate their intentions to other drivers.
6. **Be Prepared for Sudden Stops**: The driver should be prepared for sudden stops or changes in traffic flow, especially in low-light conditions.
7. **Keep a Lookout for Pedestrians and Cyclists**: The driver should be extra vigilant for pedestrians and cyclists who might be less visible in the dark.
8. **Use the Vehicle's Cameras**: If the vehicle is equipped with advanced driver assistance systems (ADAS), the driver can use the camera system to monitor the road ahead and make decisions accordingly.
9. **Follow Traffic Rules**: The driver should follow all traffic rules and regulations, including speed limits, lane markings, and right-of-way rules.
10. **Stay Within the Lane Markings**: The driver should stay within the lane markings to avoid drifting into the path of other vehicles.
By following these guidelines, the driver can reduce the risk of a collision with the vehicle |
| 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, and slightly offset to the right. |
| InternVL2-2B | Based on the image, the safe actions for the ego vehicle would include maintaining a safe following distance from the vehicle in front, as indicated by the "CAM_FRONT_LEFT" and "CAM_FRONT" labels. The ego vehicle should also be prepared to react to any sudden movements or changes in traffic, as suggested by the "CAM_FRONT_RIGHT" label. Additionally, the ego vehicle should be cautious of the vehicle in front, as indicated by the "CAM_FRONT_RIGHT" label, and be prepared to adjust its speed or position to avoid a collision. |
| 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 this scenario, the ego vehicle is driving down a street with multiple other vehicles, including a bus, and a traffic light. To ensure safety, the ego vehicle should follow the traffic light signals, maintain a safe distance from other vehicles, and be prepared to stop or slow down when necessary. Additionally, the driver should be attentive to the surroundings, including the bus and other vehicles, and be prepared to react to any sudden changes in traffic conditions. It is also important to be aware of pedestrians and cyclists sharing the road, and to yield the right of way when necessary. By following these safe driving practices, the ego vehicle can minimize the risk of accidents and ensure a smooth and secure journey. |
| InternVL2-2b-LoRA-25k-drivelm | Keep going at the same speed, accelerate, and proceed ahead. |
| InternVL2-2b-LoRA-25k-drivelm-offline-redcircle-ctag-bkgd | Keep going at the same speed, decelerate gradually without braking. |
| 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 bus driving on a highway at night. To ensure safe driving, the bus driver should take the following actions:
1. **Maintain a Safe Following Distance**: The bus should keep a safe distance from the vehicle in front to allow for adequate reaction time in case of sudden braking or changes in traffic flow.
2. **Use Headlights**: The bus should have its headlights on to improve visibility and signal the presence of the bus to other drivers.
3. **Stay in the Right Lane**: The bus should stay in the right lane, as indicated by the "CAM_BACK_RIGHT" label, to avoid potential hazards from vehicles in the left lane.
4. **Be Aware of Surroundings**: The driver should be constantly scanning the road ahead and to the sides, checking for any vehicles that may be changing lanes or merging.
5. **Use Turn Signals**: When changing lanes or making turns, the bus driver should use the turn signals well in advance to alert other drivers of the intended maneuver.
6. **Slow Down in Poor Visibility**: If the visibility is poor due to weather conditions or the time of night, the bus driver should reduce speed to ensure safe driving.
7. **Follow Traffic Rules**: The bus driver should obey all traffic rules, including speed limits, traffic signals, and road signs.
8. **Use Caution at Intersections**: The bus driver should be extra cautious when approaching intersections, as other vehicles may not be as visible at night.
9. **Be Prepared for Emergencies**: The bus driver should be prepared for any emergencies that may arise, such as mechanical failures or medical emergencies on board.
10. **Take Breaks**: If the bus driver is driving for an extended period, they should take regular breaks to rest and maintain alertness.
By following these safety measures, the bus driver can significantly reduce the risk of accidents and ensure a safe journey for all passengers and other road users. |
| 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 fast. B. The ego vehicle is slightly steering to the left. The ego vehicle is driving very fast. C. The ego vehicle is going straight. The ego vehicle is driving very fast. D. The ego vehicle is going straight. The ego vehicle is driving with normal speed. |
| GT Answer | B |
| InternVL2-2B | Based on the image, the ego vehicle is driving straight. The image shows the ego vehicle in the center lane, with no visible signs of steering to the left or right, and the vehicle appears to be moving at a normal speed. Therefore, the correct answer is:
D. The ego vehicle is going straight. The ego vehicle is driving with normal speed. |
| Mini-InternVL2-2B-DA-DriveLM | C |
| llama_adapter_v2_multimodal7b | The ego vehicle is driving fast, as it is seen steering to the right and going straight. |
| 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. The ego vehicle is going straight. The ego vehicle is driving very fast. |
| llava-v1.6-mistral-7b-hf | Based on the image provided, the correct answer is C: The ego vehicle is going straight. The vehicle is driving with normal speed, as indicated by the speedometer in the image. |
