| 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 black SUV to the front left of the ego vehicle, a black SUV to the front of the ego vehicle, a red car to the back of the ego vehicle, a blue sedan to the back of the ego vehicle, and a green light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,855.0,510.0>, <c2,CAM_FRONT_LEFT,672.4,614.8>, <c3,CAM_FRONT,873.3,460.0>, <c4,CAM_BACK,1059.2,545.0>, <c5,CAM_BACK,1347.5,685.8>, and <c6,CAM_FRONT,527.3,348.8>. |
| InternVL2-2B | In the current scene, the important objects include:
1. **Bus**: The bus is a prominent object in the foreground, indicating it is likely a public transportation vehicle. It is moving along the road, which suggests it is part of the traffic flow.
2. **Road**: The road is the primary surface on which the bus is traveling. It is a two-lane road with visible lane markings and traffic signs.
3. **Traffic Signs**: There are traffic signs visible on the road, including a stop sign and a no entry sign. These signs are crucial for traffic regulation and safety.
4. **Pedestrian Crossing**: The pedestrian crossing is marked with white lines and is clearly visible, indicating it is a designated area for pedestrians to cross the road safely.
5. **Construction Area**: There is a construction area with orange barriers and a sign indicating a no entry zone. This area is likely to be a temporary measure to manage traffic and pedestrian flow during construction.
6. **Other Vehicles**: There are other vehicles on the road, including a white car and a blue car, which are part of the traffic flow.
These objects are crucial for understanding the current traffic situation and making informed driving decisions. |
| Mini-InternVL2-2B-DA-DriveLM | There is a black SUV to the front left of the ego vehicle, a white sedan to the front of the ego vehicle, a blue sedan to the back of the ego vehicle, a white bus to the back left of the ego vehicle, a black SUV to the front 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, 5, and 6. |
| llama_adapter_v2_multimodal7b | In the current scene, the important objects to consider for future reasoning and driving decisions include the bus, the truck, the car, and the traffic lights. The bus and truck are large vehicles that need to be aware of each other's movements and distances to avoid collisions. The car is also present in the scene, and it should be cautious of the bus and truck's movements as well. The traffic lights play a crucial role in controlling the flow of traffic and ensuring the safety of all road users. Drivers should pay attention to the traffic lights and follow their signals to maintain an orderly flow of traffic and avoid accidents. |
| InternVL2-2b-LoRA-25k-drivelm | There is a white SUV to the front of the ego vehicle, a black SUV to the front left of the ego vehicle, a blue sedan to the back of the ego vehicle, a black sedan to the front of the ego vehicle, and a black SUV to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1080.0,495.8>, <c2,CAM_FRONT_LEFT,1080.0,495.8>, <c3,CAM_BACK,1080.0,525.0>, <c4,CAM_FRONT,1080.0,495.8>, and <c5,CAM_FRONT_LEFT,1080.0,495.8>. |
| InternVL2-2b-LoRA-25k-drivelm-offline-redcircle-ctag-bkgd | There is a white truck to the back of the ego vehicle, a black SUV to the front left of the ego vehicle, a black sedan to the front of the ego vehicle, a white truck to the back of the ego vehicle, a blue sedan to the back of the ego vehicle, and a green light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,871.7,478.3>, <c2,CAM_FRONT_LEFT,672.4,614.8>, <c3,CAM_FRONT,873.3,460.0>, <c4,CAM_BACK,1059.2,545.0>, <c5,CAM_BACK,1347.5,685.8>, and <c6,CAM_FRONT,527.3,348.8>. |
| InternVL2-2b-LoRA-25k_plus_DL-PL-10pct | There is a white sedan to the front of the ego vehicle, a black SUV to the front of the ego vehicle, a black sedan to the front of the ego vehicle, a black sedan 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,1010.0,525.0>, <c2,CAM_FRONT,1010.0,525.0>, <c3,CAM_FRONT,1010.0,525.0>, <c4,CAM_FRONT,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 black sedan to the front left of the ego vehicle, a black sedan to the front of the ego vehicle, a black sedan to the back of the ego vehicle, a blue sedan to the back of the ego vehicle, and a black sedan to the front left of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1080.0,520.0>, <c2,CAM_FRONT_LEFT,1010.8,600.0>, <c3,CAM_FRONT,1010.8,520.0>, <c4,CAM_BACK,1010.8,520.0>, <c5,CAM_BACK,1010.8,520.0>, and <c6,CAM_FRONT_LEFT,1010.8,520.0>. |
| llava-v1.6-mistral-7b-hf | In the current scene, the important objects to consider for future reasoning and driving decisions include:
1. Vehicles: There are several cars and a bus in the scene, which are relevant for understanding traffic flow and potential obstacles.
2. Traffic lights: There are multiple traffic lights visible, which are crucial for understanding when it is safe to proceed or when to stop.
3. Pedestrians: There are a few pedestrians visible, which require attention to ensure their safety.
4. Road signs: There are various road signs that provide information about speed limits, directions, and other important rules for drivers.
5. Construction barriers: There are orange barriers indicating construction work, which may require drivers to slow down or change lanes.
6. Buildings: The presence of buildings suggests that this is an urban environment, which may have specific traffic rules and regulations.
7. Street markings: The presence of white lines on the road indicates lanes and areas where vehicles should not park or stop.
8. Traffic cones: There are traffic cones that may indicate temporary changes in traffic patterns or road conditions.
9. Parking meters: There are parking meters visible, which are important for drivers who need to park their vehicles.
10. Streetlights: There are streetlights that provide illumination for nighttime driving.
These objects, along with the road itself, are essential for drivers to navigate safely and efficiently in this urban environment. |
| 1 | Questionperception | What is the moving status of object <c1,CAM_BACK,855.0,510.0>? Please select the correct answer from the following options: A. Turn right. B. Reverse parking. C. Going ahead. D. Stopped. |
| GT Answer | C |
| InternVL2-2B | The moving status of object <c1,CAM_BACK,855.0,510.0> is D. Stopped. |
| Mini-InternVL2-2B-DA-DriveLM | C |
| llama_adapter_v2_multimodal7b | The moving status of object <c1,CAM_BACK,855.0,510.0> is that it is stopped. |
| 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 | D. 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 <c2,CAM_FRONT_LEFT,672.4,614.8>. It is stationary, so the ego vehicle should continue ahead at the same speed. Secondly, notice <c6,CAM_FRONT,527.3,348.8>. It is a traffic sign, so the ego vehicle should continue ahead at the same speed. Thirdly, notice <c3,CAM_FRONT,873.3,460.0>. It is going ahead, so the ego vehicle should continue ahead at the same speed. |
| InternVL2-2B | When the ego vehicle is getting to the next possible location, it should first notice the "Crystal Transport" bus. The state of the object perceived by the ego vehicle as the first object is that the bus is stationary and not moving. The action the ego vehicle should take is to proceed straight ahead. The second object that the ego vehicle should notice is the "Deroma" construction vehicle. The state of the object perceived by the ego vehicle as the second object is that the construction vehicle is stationary and not moving. The action the ego vehicle should take is to proceed straight ahead. The third object that the ego vehicle should notice is the "Crystal Transport" bus. The state of the object perceived by the ego vehicle as the third object is that the bus is stationary and not moving. The action the ego vehicle should take is to proceed straight ahead. |
| Mini-InternVL2-2B-DA-DriveLM | Firstly, notice that the object in front of the ego vehicle is a traffic sign. The ego vehicle should continue ahead at the same speed. Secondly, notice that the object in front of the ego vehicle is stationary. The ego vehicle should continue ahead at the same speed. Thirdly, notice that the object in front of the ego vehicle is going ahead. The ego vehicle should continue 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 bus that is stopped at the intersection. The ego vehicle should then take the appropriate action, which is to stop behind the bus and wait for the bus to move before proceeding. Next, the ego vehicle should notice the traffic light, which is currently green. The ego vehicle should then take the appropriate action, which is to proceed through the intersection when it is safe to do so. Finally, the ego vehicle should notice the truck that is parked on the side of the road. The ego vehicle should then take the appropriate action, which is to continue driving and maintain a safe distance from the parked truck to avoid any potential hazards. |
| 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 keep 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 keep going ahead at the same speed. Thirdly, notice that <c1,CAM_FRONT,1080.8,485.0>. 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 <c6,CAM_FRONT,527.3,348.8>. The object is a traffic sign, so the ego vehicle should continue going ahead at the same speed. Secondly, notice that <c3,CAM_FRONT,873.3,460.0>. The object is stationary, so the ego vehicle should continue going ahead at the same speed. Thirdly, notice that <c2,CAM_FRONT_LEFT,672.4,614.8>. The object is going ahead, so the ego vehicle should continue going ahead at the same speed. |
| InternVL2-2b-LoRA-25k_plus_DL-PL-10pct | Firstly, notice <c1, CAM_FRONT, 1200.0, 600.0>. The object is approaching, so the ego should slow down. Secondly, notice <c2, CAM_FRONT, 1200.0, 600.0>. The object is approaching, so the ego should slow down. Thirdly, notice <c3, CAM_FRONT, 1200.0, 600.0>. The object is approaching, so the ego should slow down. |
| InternVL2-2b-LoRA-300k-drivelm | Firstly, notice that <c3,CAM_FRONT,1080.0,495.8>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Secondly, notice that <c1,CAM_FRONT,1080.0,505.8>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice that <c2,CAM_BACK,1010.0,555.8>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. |
| llava-v1.6-mistral-7b-hf | The image you've provided appears to be a collage of different street scenes, each with various objects that the ego vehicle should be aware of when navigating to the next possible location. Here's a breakdown of what the ego vehicle should notice and what actions it should take:
1. **First Object**: The first object the ego vehicle should notice is the traffic light. The state of the traffic light is red, indicating that the ego vehicle must stop. The action the ego vehicle should take is to come to a complete stop at the red light.
2. **Second Object**: The second object the ego vehicle should notice is the construction zone. The state of the construction zone is active, with orange cones and barriers indicating that there is ongoing work. The action the ego vehicle should take is to slow down and be prepared to follow any temporary traffic patterns or instructions provided by construction personnel.
3. **Third Object**: The third object the ego vehicle should notice is the bus. The bus is stopped at a bus stop, and the state of the bus is stationary. The action the ego vehicle should take is to be cautious and give the bus enough space to maneuver when it starts moving again.
4. **Fourth Object**: The fourth object the ego vehicle should notice is the pedestrian crossing. The state of the pedestrian crossing is clear, with no pedestrians visible. The action the ego vehicle should take is to be prepared to yield to pedestrians if they are about to cross the street.
5. **Fifth Object**: The fifth object the ego vehicle should notice is the parked car. The car is parked on the side of the street, and the state of the car is stationary. The action the ego vehicle should take is to be cautious when passing the parked car, as there might be pedestrians entering or exiting the vehicle.
6. **Sixth Object**: The sixth object the ego vehicle should notice is the traffic light. The state of the traffic light is green, indicating that the ego vehicle can proceed. The action the ego vehicle should take is to proceed with caution, as there might be other vehicles or pedestrians that are not visible in the image.
7. **Seventh Object**: The seventh object the ego vehicle should notice is the construction zone. The state of the construction zone is active, with orange cones and barriers indicating that there is ongoing work. The |
| 3 | Questionprediction | Is <c1,CAM_BACK,855.0,510.0> a traffic sign or a road barrier? |
| GT Answer | No. |
| InternVL2-2B | To determine if the coordinates <c1,CAM_BACK,855.0,510.0> represent a traffic sign or a road barrier, let's analyze the image in detail:
1. **Location and Orientation**:
- The coordinates are given in the format (x, y, z), where x, y, and z are the coordinates of the point in the image.
- The coordinates provided are (855.0, 510.0).
2. **Visual Inspection**:
- **Traffic Sign**: A traffic sign typically has a rectangular shape and is usually placed at intersections or on roadside.
- **Road Barrier**: A road barrier is usually rectangular or square-shaped and is usually placed at the edge of the road or on the side of the road.
3. **Contextual Analysis**:
- The coordinates are located at the bottom right corner of the image, which is typically the area where traffic signs are placed.
- The coordinates are not aligned with any rectangular or square shape that would be typical of a traffic sign or road barrier.
4. **Conclusion**:
- Given the coordinates are at the bottom right corner of the image, it is highly likely that this point represents a road barrier rather than a traffic sign.
Therefore, the coordinates <c1,CAM_BACK,855.0,510.0> represent 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 object is a traffic sign or a road barrier. However, it is clear that the object is located on the street and is part of the urban environment. |
| 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 traffic sign rather than a road barrier. The sign is labeled "CAM_BACK_LEFT," which suggests it is a camera positioned to capture traffic from the left side of the road. This type of camera is typically used for traffic monitoring and enforcement purposes. |
| 4 | Questionplanning | What actions could the ego vehicle take based on <c1,CAM_BACK,855.0,510.0>? Why take this action and what's the probability? |
| GT Answer | The action is to keep going at the same speed. The reason is to avoid a collision, which is high in probability. |
| InternVL2-2B | The ego vehicle, indicated by the camera's position, is currently facing a traffic light that is green. This suggests that the vehicle is in the process of turning left. Based on the given information, the ego vehicle could take the following actions:
1. **Turn Left**: The green light indicates that the vehicle can proceed to turn left.
2. **Stop**: The vehicle might stop if it is approaching a stop sign or if it needs to wait for a pedestrian signal.
3. **Driving Forward**: The vehicle could continue driving forward if it is not approaching a stop sign or pedestrian signal.
The probability of taking this action can be calculated using the following formula:
\[ P(\text{Turn Left}) = \frac{1}{1} \]
Since the green light is visible, the probability of the ego vehicle turning left is 100%.
However, it's important to note that the actual probability of the ego vehicle turning left can be influenced by various factors such as traffic conditions, pedestrian movements, and the vehicle's speed. |
| 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 input, the ego vehicle could take the action of turning right at the intersection. This action is likely because the vehicle is approaching the intersection and the right turn is the most appropriate maneuver to make, considering the traffic situation and the vehicle's intended destination. The probability of the vehicle taking this action is high, as it is a common and safe driving practice. However, it is important to note that the actual probability of the vehicle taking this action may vary depending on factors such as the vehicle's driver, the specific traffic conditions at the intersection, and the presence of other vehicles or pedestrians. |
| 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. 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, and 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 as it moves through an urban environment. The sequence includes a car, a bus, and a construction zone.
Based on the first image, the ego vehicle (the one from which the perspective is taken) is currently at a stoplight, waiting for the light to change. The probability of the ego vehicle taking the action to proceed when the light turns green is high, as this is the standard behavior for vehicles at a stoplight. The probability is close to 100% if the light turns green, as the vehicle is programmed to follow traffic rules.
In the second image, the ego vehicle is driving down a street with a bus in front of it. The probability of the ego vehicle taking the action to maintain a safe distance from the bus is high, as this is a standard safety measure for vehicles on the road.
In the third image, the ego vehicle is approaching a construction zone. The probability of the ego vehicle taking the action to slow down and possibly change lanes if necessary is high, as construction zones often require vehicles to adjust their speed and lane position for safety reasons.
In the fourth image, the ego vehicle is driving on a road with a construction vehicle in front of it. The probability of the ego vehicle taking the action to maintain a safe distance from the construction vehicle is high, as this is a standard safety measure for vehicles on the road.
In the fifth image, the ego vehicle is driving on a road with a car in front of it. The probability of the ego vehicle taking the action to maintain a safe distance from the car is high, as this is a standard safety measure for vehicles on the road.
In the sixth image, the ego vehicle is driving on a road with a car in front of it. The probability of the ego vehicle taking the action to maintain a safe distance from the car is high, as this is a standard safety measure for vehicles on the road.
In the seventh image, the ego vehicle is driving on a road with a car in front of it. The probability of the ego vehicle taking the action to maintain a safe distance from the car is high, as this is a standard safety measure for vehicles on the road.
In the eighth image, the ego vehicle is driving on a road with a car in front of it. The probability of the ego vehicle taking the action to maintain a safe distance from the |
| 5 | Questionplanning | What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,855.0,510.0>? |
| GT Answer | Back up. |
| InternVL2-2B | The ego vehicle, which is a black SUV, is positioned on the right side of the road, approaching a pedestrian crossing. The pedestrian crossing is marked with a yellow line and a pedestrian crossing sign. The vehicle is traveling in the same direction as the pedestrian, and there is no visible indication of the pedestrian's presence or movement.
Given the following observations:
1. The pedestrian is not visible in the image.
2. The vehicle is approaching the pedestrian crossing without any visible warning signs or signals.
3. The vehicle is traveling at a speed that appears to be consistent with the speed limit of 55 MPH.
Based on these observations, the ego vehicle could potentially collide with the pedestrian if it does not slow down or stop before reaching the pedestrian crossing. The vehicle should be cautious and ensure it is aware of the pedestrian's presence and movement before proceeding. |
| Mini-InternVL2-2B-DA-DriveLM | Back up. |
| llama_adapter_v2_multimodal7b | The ego vehicle is driving down the street, and it is approaching a bus that is making a right turn. The ego vehicle can potentially collide with the bus if it does not take appropriate actions. The actions that the ego vehicle can take to avoid a collision include:1. Slowing down and maintaining a safe distance from the bus.2. Signaling its intentions to turn or change lanes, if necessary.3. Observing the bus's right turn signal and waiting for it to complete the turn before proceeding.4. Making sure that the bus has enough space to complete the turn before attempting to pass it.By taking these precautions, the ego vehicle can ensure a safe and smooth passage through the intersection, reducing the risk of a collision with the bus. |
| 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 the vehicle labeled as "CAM_BACK" in the image. Here's a breakdown of the actions:
1. **CAM_FRONT_LEFT**: The ego vehicle is turning left at an intersection.
2. **CAM_FRONT_RIGHT**: The ego vehicle is turning right at an intersection.
3. **CAM_BACK_LEFT**: The ego vehicle is backing up on the street.
4. **CAM_BACK_RIGHT**: The ego vehicle is backing up on the street.
5. **CAM_BACK_LEFT**: The ego vehicle is backing up on the street.
6. **CAM_BACK_RIGHT**: The ego vehicle is backing up on the street.
7. **CAM_BACK_LEFT**: The ego vehicle is backing up on the street.
8. **CAM_BACK_RIGHT**: The ego vehicle is backing up on the street.
9. **CAM_BACK_LEFT**: The ego vehicle is backing up on the street.
10. **CAM_BACK_RIGHT**: The ego vehicle is backing up on the street.
11. **CAM_BACK_LEFT**: The ego vehicle is backing up on the street.
12. **CAM_BACK_RIGHT**: The ego vehicle is backing up on the street.
13. **CAM_BACK_LEFT**: The ego vehicle is backing up on the street.
14. **CAM_BACK_RIGHT**: The ego vehicle is backing up on the street.
15. **CAM_BACK_LEFT**: The ego vehicle is backing up on the street.
16. **CAM_BACK_RIGHT**: The ego vehicle is backing up on the street.
17. **CAM_BACK_LEFT**: The ego vehicle is backing up on the street.
18. **CAM_BACK_RIGHT**: The ego vehicle is backing up on the street.
19. **CAM_BACK_LEFT**: The ego vehicle is backing up on the street.
20. **CAM_BACK_RIGHT**: The ego vehicle is backing up on the street.
21. **CAM_BACK_LEFT**: The ego vehicle is backing up on the street.
22. **CAM_BACK_RIGHT**: The ego vehicle is backing |
| 6 | Questionplanning | In this scenario, what are safe actions to take for the ego vehicle? |
| GT Answer | Keep going at the same speed, brake gently to a stop, or 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 bus, ensuring that the bus is in the lane it is supposed to be in, and not overtaking the bus. The vehicle should also be prepared to stop if necessary, as the bus is in a bus lane, which is a designated area for buses. Additionally, the vehicle should be aware of the construction area and any potential hazards, such as the orange cones and barriers, and ensure that it is not obstructing the flow of traffic. |
| Mini-InternVL2-2B-DA-DriveLM | Keep going at the same speed, decelerate gradually without braking. |
| llama_adapter_v2_multimodal7b | In the image, a bus is driving down a city street with other vehicles, including cars and trucks, and there are traffic lights at various intersections. To ensure safety for the ego vehicle, the driver should follow the traffic rules and 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 pedestrians and other road users, and be prepared to react to any unexpected situations. It is also important to be aware of the bus's size and maneuverability, as it may have limited visibility and require more space to make turns or stop. By following these safe actions, the ego vehicle can navigate the city streets and contribute to overall road safety. |
| InternVL2-2b-LoRA-25k-drivelm | Keep going at the same speed, accelerate, and proceed. |
| 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 navigating through a construction zone with various vehicles and pedestrians around. Here are some safe actions the bus driver should take:
1. **Slow Down**: The driver should reduce speed to ensure they have enough time to react to any changes in the traffic flow or unexpected obstacles.
2. **Maintain a Safe Following Distance**: Keeping a safe distance from the vehicle in front allows for more reaction time in case of sudden stops.
3. **Use Turn Signals**: The bus driver should use turn signals well in advance to indicate their intentions to other road users.
4. **Stay Alert**: The driver should be constantly scanning the road for any potential hazards, including pedestrians, cyclists, and other vehicles.
5. **Follow Traffic Signs and Signals**: The driver should obey all traffic signs and signals, including speed limits, lane markings, and traffic lights.
6. **Be Prepared for Construction Zone Changes**: Construction zones often have temporary changes in road layouts, so the driver should be prepared for unexpected changes in the road ahead.
7. **Use Caution When Merging**: When merging back into the main lanes, the driver should do so slowly and carefully, ensuring they are visible to other drivers.
8. **Communicate with Other Drivers**: If possible, the bus driver should use their horn or other means of communication to alert other drivers of their intentions.
9. **Stay in the Designated Lane**: The driver should stay in the lane designated for buses or large vehicles, as this is where they are most visible to other drivers.
10. **Be Patient**: Construction zones can be unpredictable, so the driver should remain patient and allow for extra time to navigate through the area safely.
By following these safety measures, the bus driver can help ensure the safety of the passengers on board, as well as 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 slightly steering to the left. The ego vehicle is driving slowly. B. The ego vehicle is going straight. The ego vehicle is driving fast. C. The ego vehicle is steering to the right. The ego vehicle is driving with normal speed. D. The ego vehicle is slightly steering to the right. The ego vehicle is driving fast. |
| GT Answer | B |
| InternVL2-2B | Based on the image, the ego vehicle is driving on a multi-lane road with a pedestrian crossing. The traffic light is green, indicating that it is safe for the ego vehicle to proceed straight ahead. The ego vehicle is not currently experiencing any significant steering or braking issues, and it appears to be maintaining a normal speed. Therefore, the correct answer is:
C. The ego vehicle is steering to the right. The ego vehicle is driving with normal speed. |
| Mini-InternVL2-2B-DA-DriveLM | B |
| llama_adapter_v2_multimodal7b | The ego vehicle is driving slowly, as it is described as "ego vehicle driving slowly." |
| 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 | D. The ego vehicle is slightly steering to the right. The ego vehicle is driving fast. |
| llava-v1.6-mistral-7b-hf | A. The ego vehicle is slightly steering to the left. The ego vehicle is driving slowly. |
