| 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 person riding a motorcycle to the back of the ego vehicle, a black car to the back of the ego vehicle, a white sedan to the front of the ego vehicle, and a red car to the front of the ego vehicle. The IDs of these objects are <c1,CAM_BACK,935.8,515.0>, <c2,CAM_BACK,805.8,517.5>, <c3,CAM_FRONT,754.2,525.8>, and <c4,CAM_FRONT,642.5,502.5>. |
| InternVL2-2B | In the current scene, the important objects include the road, the vehicles, and the surrounding environment. These objects will be considered for future reasoning and driving decisions.
1. **Road**: The primary road is the central element of the image. It is the path that vehicles are traveling on, and it is crucial for navigation and safety. The road's condition, including any visible potholes or cracks, can affect vehicle stability and safety.
2. **Vehicles**: The presence of multiple vehicles indicates that the road is in use, and it is a busy area. The vehicles' positions and movement can provide insights into traffic flow and potential hazards.
3. **Surrounding Environment**: The environment includes the roadside, the sidewalk, and the buildings. The buildings can provide context for the location and help in understanding the road's surroundings. The sidewalk can indicate pedestrian activity and potential hazards, such as pedestrians crossing the road.
4. **Lighting and Visibility**: The lighting conditions, including the visibility of the road and the surrounding environment, are crucial for safe driving. Poor visibility can lead to accidents, while good lighting can improve safety.
5. **Traffic Signs and Road Markings**: The presence of traffic signs and road markings can provide important information about speed limits, lane usage, and other driving regulations. These signs and markings can help in making informed driving decisions.
6. **Road Surface**: The condition of the road surface, including any cracks or potholes, can affect vehicle handling and safety. A well-maintained road surface is generally safer for driving.
7. **Weather Conditions**: The weather conditions, such as rain or snow, can impact driving conditions. Wet roads can make driving more challenging, while snow or ice can lead to reduced traction and increased stopping distances.
By considering these objects, future driving decisions can be made based on the current road conditions, traffic flow, and surrounding environment. |
| Mini-InternVL2-2B-DA-DriveLM | There is a black car to the back of the ego vehicle, a white sedan to the front of the ego vehicle, and a person wearing a white shirt to the front of the ego vehicle. The IDs of these objects are 1, 2, and 3. |
| llama_adapter_v2_multimodal7b | In the current scene, the important objects to consider for future reasoning and driving decisions include the car, the traffic light, and the streetlight. The car is driving down the street, and the traffic light is located at the intersection, which is crucial for understanding the traffic flow and obeying traffic rules. The streetlight provides illumination for the street, ensuring visibility for both the driver and pedestrians. By taking these objects into account, the driver can make informed decisions about their driving behavior, such as stopping at the traffic light, maintaining a safe distance from other vehicles, and being aware of pedestrians in the area. |
| InternVL2-2b-LoRA-25k-drivelm | There is a white truck to the front of the ego vehicle, a white truck to the front of the ego vehicle, a white truck to the front of the ego vehicle, and a red light to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1080.0,495.8>, <c2,CAM_FRONT,1080.0,495.8>, <c3,CAM_FRONT,1080.0,495.8>, and <c4,CAM_FRONT,1080.0,430.0>. |
| InternVL2-2b-LoRA-25k-drivelm-offline-redcircle-ctag-bkgd | There is a black car to the front of the ego vehicle, a white sedan to the back 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,754.2,523.3>, <c2,CAM_BACK,805.8,517.5>, <c3,CAM_FRONT,685.8,523.3>, and <c4,CAM_FRONT,642.5,502.5>. |
| InternVL2-2b-LoRA-25k_plus_DL-PL-10pct | There is a car to the front of the ego vehicle, a car to the front of the ego vehicle, and a car to the front of the ego vehicle. The IDs of these objects are <c1,CAM_FRONT,1080.0,525.0>, <c2,CAM_FRONT,1080.0,525.0>, and <c3,CAM_FRONT,1080.0,525.0>. |
| InternVL2-2b-LoRA-300k-drivelm | There is a white sedan to the front of the ego vehicle, a white sedan to the back 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 <c1,CAM_FRONT,1080.0,520.0>, <c2,CAM_BACK,1010.8,520.0>, <c3,CAM_FRONT,1010.8,520.0>, and <c4,CAM_FRONT,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. The road ahead, which appears to be clear and free of obstacles.
2. The presence of a vehicle in the distance, which could indicate traffic conditions or the need to maintain a safe following distance.
3. The streetlights, which provide illumination and indicate that the road is well-lit, which is important for visibility and safety.
4. The road markings, which help to define lanes and guide the driver's position on the road.
5. The presence of a pedestrian on the sidewalk, which requires the driver to be cautious and prepared to yield to pedestrians.
6. The parked cars on the side of the road, which could indicate a parking area or a stop where vehicles might be entering or exiting.
7. The overall lighting conditions, which seem to be nighttime, requiring the driver to be particularly attentive to the road and surroundings.
These objects are crucial for the driver to make informed decisions about their speed, lane position, and overall driving behavior to ensure safety and compliance with traffic rules. |
| 1 | Questionperception | What is the moving status of object <c1,CAM_BACK,935.8,515.0>? Please select the correct answer from the following options: A. Turn right. B. Reverse parking. C. Back up. D. Going ahead. |
| GT Answer | D |
| InternVL2-2B | The moving status of object <c1,CAM_BACK,935.8,515.0> is C. Back up. |
| Mini-InternVL2-2B-DA-DriveLM | D |
| llama_adapter_v2_multimodal7b | The moving status of object <c1,CAM_BACK,935.8,515.0> is "Going ahead." |
| InternVL2-2b-LoRA-25k-drivelm | D |
| InternVL2-2b-LoRA-25k-drivelm-offline-redcircle-ctag-bkgd | D |
| InternVL2-2b-LoRA-25k_plus_DL-PL-10pct | D |
| InternVL2-2b-LoRA-300k-drivelm | C. Back up. |
| llava-v1.6-mistral-7b-hf | D. 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 <c3,CAM_FRONT,754.2,525.8>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Secondly, notice that <c4,CAM_FRONT,642.5,502.5>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice that <c2,CAM_BACK,805.8,517.5>. 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 traffic light first. The state of the traffic light perceived by the ego vehicle is green. The ego vehicle should take the action of turning left to proceed. The object that the ego vehicle should notice second is the pedestrian crossing sign. The state of the pedestrian crossing sign perceived by the ego vehicle is not visible. The ego vehicle should take no action. The object that the ego vehicle should notice third is the street sign. The state of the street sign perceived by the ego vehicle is not visible. The ego vehicle should take no action. |
| 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 middle of the image. The traffic light is green, indicating that the ego vehicle can proceed safely. The ego vehicle should take the action of continuing to drive forward. Next, the ego vehicle should notice the car in the front, which is on the left side of the image. The car is stopped, so the ego vehicle should take the action of slowing down and being prepared to stop if necessary. The ego vehicle should then notice the car in the back, which is on the right side of the image. The car is also stopped, so the ego vehicle should take the action of slowing down and being prepared to stop if necessary. Finally, the ego vehicle should notice the car on the left side of the image, which is also stopped. The ego vehicle should take the action of slowing down and being prepared to stop if necessary. |
| 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,1080.8,505.8>. The object is going ahead, so the ego vehicle should continue going ahead at the same speed. Thirdly, notice that <c1,CAM_BACK,1080.8,505.8>. 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 <c4,CAM_FRONT,642.5,502.5>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Secondly, notice that <c1,CAM_FRONT,754.2,523.3>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice that <c3,CAM_FRONT,685.8,523.3>. 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 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 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 at the same speed. |
| InternVL2-2b-LoRA-300k-drivelm | Firstly, notice that <c3,CAM_FRONT,1080.0,520.0>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Secondly, notice that <c1,CAM_FRONT,1080.0,520.0>. The object is going ahead, so the ego vehicle should keep going ahead at the same speed. Thirdly, notice that <c2,CAM_BACK,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 you've provided appear to be a sequence of camera views from a vehicle's perspective, showing the front, back, and sides of the vehicle as it moves along a road at night. Here's a description of the objects and actions that the ego vehicle should consider:
1. First object: The vehicle should notice the road ahead, which is clear and free of obstacles. The action the ego vehicle should take is to continue driving straight.
2. Second object: The vehicle should notice the car directly behind it, which is also moving straight. The ego vehicle should maintain a safe following distance and adjust its speed accordingly.
3. Third object: The vehicle should notice the car to its right, which is also moving straight. The ego vehicle should be aware of the car's position and maintain a safe lane change if necessary.
4. Fourth object: The vehicle should notice the car to its left, which is also moving straight. The ego vehicle should be aware of the car's position and maintain a safe lane change if necessary.
5. Fifth object: The vehicle should notice the car in front of it, which is also moving straight. The ego vehicle should be aware of the car's position and maintain a safe following distance.
6. Sixth object: The vehicle should notice the car to its right, which is also moving straight. The ego vehicle should be aware of the car's position and maintain a safe lane change if necessary.
7. Seventh object: The vehicle should notice the car to its left, which is also moving straight. The ego vehicle should be aware of the car's position and maintain a safe lane change if necessary.
8. Eighth object: The vehicle should notice the car in front of it, which is also moving straight. The ego vehicle should be aware of the car's position and maintain a safe following distance.
9. Ninth object: The vehicle should notice the car to its right, which is also moving straight. The ego vehicle should be aware of the car's position and maintain a safe lane change if necessary.
10. Tenth object: The vehicle should notice the car to its left, which is also moving straight. The ego vehicle should be aware of the car's position and maintain a safe lane change if necessary.
Throughout the sequence, the ego vehicle should be aware of its surroundings, maintain a safe distance |
| 3 | Questionprediction | Is <c1,CAM_BACK,935.8,515.0> a traffic sign or a road barrier? |
| GT Answer | No. |
| InternVL2-2B | To determine if the coordinates <c1,CAM_BACK,935.8,515.0> 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 (935.8, 515.0, 0), which means the point is located at the top-left corner of the image.
2. **Visual Inspection**:
- **Traffic Sign**: A traffic sign typically has a distinct shape, color, or pattern that distinguishes it from other objects. In this image, there is no such distinct feature.
- **Road Barrier**: Road barriers are usually rectangular or rectangular-like structures that are clearly visible and have a distinct boundary. In this image, there is no such structure.
3. **Contextual Analysis**:
- The coordinates are given in a way that suggests they are likely part of a larger image or a map, but the image itself does not provide enough context to definitively identify whether it is a traffic sign or a road barrier.
4. **Conclusion**:
- Given the lack of a distinct shape, color, or pattern, and the absence of any recognizable road barrier structure, it is reasonable to conclude that the coordinates <c1,CAM_BACK,935.8,515.0> represent a road barrier.
In conclusion, the coordinates <c1,CAM_BACK,935.8,515.0> are most likely a road barrier, as there is no visible traffic sign or other distinct road barrier structure in the image. |
| Mini-InternVL2-2B-DA-DriveLM | No. |
| llama_adapter_v2_multimodal7b | The image does not provide enough information to confidently determine whether the <c1,CAM_BACK,935.8,515.0> 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 screenshot from a vehicle's rear-view camera, showing the road ahead. The text "CAM_BACK" suggests that this is a camera angle that is typically used to monitor traffic behind the vehicle. It is not a traffic sign or a road barrier; it is a camera system that is part of the vehicle's safety features. |
| 4 | Questionplanning | What actions could the ego vehicle take based on <c1,CAM_BACK,935.8,515.0>? Why take this action and what's the probability? |
| GT Answer | The action is to decelerate gradually without braking. The reason is that there is no safety issue. The probability of this action is high. |
| InternVL2-2B | Based on the given image and the information provided, the ego vehicle (represented by the car in the image) is currently driving on a highway at night. The camera's position is indicated as "CAM_FRONT_LEFT" and the camera's position relative to the ego vehicle is "CAM_FRONT".
The action the ego vehicle could take is to change lanes to the right. This action is suggested by the camera's position and the direction of the road. The camera is positioned to the left of the ego vehicle, and the road is straight ahead, indicating that the ego vehicle can move to the right.
The probability of taking this action can be calculated using the following steps:
1. **Identify the camera's position relative to the ego vehicle:**
- The camera is positioned to the left of the ego vehicle.
- The road is straight ahead.
2. **Determine the direction of the road:**
- The road is straight ahead.
3. **Calculate the relative position of the ego vehicle to the road:**
- The ego vehicle is currently on the left side of the road.
4. **Calculate the distance to the right lane:**
- The ego vehicle is currently on the left side of the road.
- The right lane is on the right side of the road.
5. **Calculate the distance to the right lane:**
- The ego vehicle is currently on the left side of the road.
- The right lane is on the right side of the road.
6. **Determine the relative position of the ego vehicle to the right lane:**
- The ego vehicle is currently on the left side of the road.
- The right lane is on the right side of the road.
7. **Calculate the distance to the right lane:**
- The ego vehicle is currently on the left side of the road.
- The right lane is on the right side of the road.
8. **Determine the relative position of the ego vehicle to the right lane:**
- The ego vehicle is currently on the left side of the road.
- The right lane is on the right side of the road.
9. **Calculate the distance to the right lane:**
- The ego vehicle is currently on the left side of the road.
- The right lane is on the right side of the road.
10. **Determine the relative position of the ego vehicle to the right lane:**
- The ego vehicle is currently on the left side of the road |
| 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 is at a position <c1,CAM_BACK,935.8,515.0> in the image. The vehicle could take the following actions:1. Turn left: The vehicle is currently facing the left side of the road, so turning left would be the most likely action. The probability of this action is 100% since the vehicle is already facing the left side of the road.2. Turn right: The vehicle is currently facing the right side of the road, so turning right would be the second most likely action. The probability of this action is 100% since the vehicle is already facing the right side of the road.3. Continue straight: The vehicle is currently facing the front of the road, so continuing straight would be the third most likely action. The probability of this action is 100% since the vehicle is already facing the front of the road.4. Turn back: The vehicle is currently facing the back of the road, so turning back would be the fourth most likely action. The probability of this action is 0% since the vehicle is already facing the back of the road.In summary, the most likely actions for the ego vehicle at this position are turning left, turning right, or continuing straight. |
| 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. 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 the vehicle's front and back views at different times. The labels "CAM_BACK_LEFT," "CAM_BACK_RIGHT," "CAM_FRONT_LEFT," "CAM_FRONT_RIGHT," and "CAM_BACK_RIGHT" suggest that these are the different camera angles available to the vehicle's driver.
Based on the label "CAM_BACK_LEFT," the ego vehicle could take the following actions:
1. **Slow down or stop**: If the vehicle is approaching a stop or yield sign, it should slow down or stop as required by traffic rules.
2. **Change lanes**: If the vehicle is in a lane that is not the correct one for its intended direction, it should change lanes to the appropriate lane.
3. **Signal turn or lane change**: If the vehicle is planning to make a turn or change lanes, it should use the turn signals to indicate its intentions to other road users.
4. **Prepare for a stop or yield**: If the vehicle is approaching a stop or yield sign, it should prepare to stop or yield as required by traffic rules.
The probability of the vehicle needing to take these actions depends on the actual traffic conditions and the driver's intentions. If the vehicle is approaching a stop or yield sign, the probability of needing to stop or yield is high. If the vehicle is in the correct lane and there are no signs indicating a need to change lanes or stop, the probability of needing to take these actions is low.
The driver should always be aware of their surroundings and the traffic rules applicable to their current location to make the most appropriate decision. |
| 5 | Questionplanning | What actions taken by the ego vehicle can lead to a collision with <c1,CAM_BACK,935.8,515.0>? |
| GT Answer | Brake suddenly. |
| InternVL2-2B | To determine the actions taken by the ego vehicle that could lead to a collision with the vehicle in the lane ahead, we need to analyze the visual information provided by the image.
1. **Identify the Lane and Vehicle:**
- The ego vehicle is in the leftmost lane, heading straight ahead.
- The vehicle ahead is in the rightmost lane, moving towards the right.
2. **Observe the Position and Movement:**
- The ego vehicle is moving straight ahead.
- The vehicle ahead is moving to the right.
3. **Analyze the Distance and Direction:**
- The ego vehicle is in the leftmost lane, and the vehicle ahead is in the rightmost lane.
- The vehicle ahead is moving towards the right, which is the opposite direction of the ego vehicle.
4. **Consider Possible Actions:**
- **Driving Straight:** The ego vehicle could continue straight ahead, potentially colliding with the vehicle ahead.
- **Driving Left:** The ego vehicle could change lanes to the left, avoiding the collision.
- **Driving Right:** The ego vehicle could change lanes to the right, avoiding the collision.
5. **Determine the Most Likely Action:**
- Given the current position and direction of the ego vehicle, the most likely action is to change lanes to the left to avoid the collision with the vehicle ahead.
In conclusion, the ego vehicle should change lanes to the left to avoid a collision with the vehicle ahead. |
| Mini-InternVL2-2B-DA-DriveLM | No such action will lead to a collision. |
| llama_adapter_v2_multimodal7b | The ego vehicle is driving down the street, and it is approaching a red traffic light at the intersection. If the ego vehicle continues to drive forward without stopping, it may collide with the <c1,CAM_BACK,935.8,515.0> position, which represents the rear of the ego vehicle. This collision could result from the ego vehicle not paying attention to the traffic light or not reacting in time to the red signal. It is crucial for drivers to obey traffic signals and maintain a safe distance from other vehicles to avoid potential collisions. |
| InternVL2-2b-LoRA-25k-drivelm | Back up. |
| InternVL2-2b-LoRA-25k-drivelm-offline-redcircle-ctag-bkgd | No such action will lead to a collision. |
| 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 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_BACK,935.8,515.0>, 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 vehicle is ahead in the CAM_FRONT_LEFT and CAM_FRONT_RIGHT views. This will allow for sufficient reaction time in case the vehicle in front suddenly stops or slows down.
2. **Monitor the CAM_BACK_LEFT and CAM_BACK_RIGHT Views**: The driver should regularly check the CAM_BACK_LEFT and CAM_BACK_RIGHT views to be aware of the position and movement of the vehicle labeled as <c1,CAM_BACK,935.8,515.0>. This will help the driver anticipate any changes in the vehicle's direction or speed.
3. **Use Turn Signals**: If the ego vehicle needs to change lanes or make a turn, it should use its turn signals well in advance to alert the vehicle labeled as <c1,CAM_BACK,935.8,515.0> of its intentions.
4. **Slow Down or Stop**: If the vehicle labeled as <c1,CAM_BACK,935.8,515.0> is too close or appears to be in the ego vehicle's path, the driver should slow down or stop as necessary to avoid a collision.
5. **Use Lane Change Indicators**: If the ego vehicle is changing lanes, it should use its lane change indicators to signal its intentions to the vehicle labeled as <c1,CAM_BACK,935.8,515.0> and other vehicles in the vicinity.
6. **Be Prepared for Sudden Stops**: The driver should be prepared for the possibility that the vehicle labeled as |
| 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 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 changes in traffic, such as the vehicle in the foreground turning or changing lanes, by maintaining a safe following distance and possibly slowing down or changing lanes if necessary. Additionally, the ego vehicle should be aware of the presence of pedestrians and other vehicles, as indicated by the "CAM_FRONT_RIGHT" label, and should be prepared to stop or slow down if necessary to avoid collisions. |
| Mini-InternVL2-2B-DA-DriveLM | In this scenario, the safe actions for the ego vehicle include maintaining a steady speed, keeping a safe distance from other vehicles, and keeping a safe following distance. The car is driving at night, so it is essential to be cautious and aware of the surroundings, including pedestrians, other vehicles, and potential obstacles. The driver should also be prepared to react to any sudden changes in traffic conditions or road conditions, such as slippery surfaces or unexpected obstacles. By following these safe actions, the driver can ensure a smooth and safe journey for the vehicle and its occupants. |
| llama_adapter_v2_multimodal7b | In this scenario, the ego vehicle is driving down a street at night with multiple traffic lights. To ensure safety, the driver should follow the traffic lights and obey the signals. This includes stopping at red lights, slowing down or stopping at yellow lights, and proceeding through green lights when it is safe to do so. Additionally, the driver should be cautious of other vehicles, pedestrians, and potential obstacles on the road, especially in low-light conditions. It is essential to maintain a safe distance from other vehicles, use headlights when necessary, and be prepared for any unexpected situations that may arise. |
| 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, accelerate, and proceed. |
| 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 scenario depicted in the image, the ego vehicle is driving on a road at night with various traffic signs and signals. Here are some safe actions the driver should take:
1. **Follow Traffic Signs**: The driver should obey all traffic signs and signals, including the ones that indicate to stop, slow down, or change lanes.
2. **Maintain a Safe Following Distance**: The driver should maintain a safe distance from the vehicle in front to allow for adequate reaction time in case of sudden braking or changes in traffic flow.
3. **Use Headlights**: The driver should turn on the vehicle's headlights to improve visibility and signal their presence to other road users.
4. **Stay Alert**: The driver should stay focused on the road and avoid distractions such as using a mobile phone or engaging in activities that could divert their attention.
5. **Be Prepared for Pedestrians**: The driver should be cautious and prepared to yield to pedestrians, especially at crosswalks or intersections.
6. **Use Turn Signals**: When changing lanes or making turns, the driver should use the appropriate turn signals to communicate their intentions to other road users.
7. **Slow Down for Curves**: The driver should reduce speed when approaching curves to maintain control of the vehicle and avoid potential accidents.
8. **Be Cautious of Wildlife**: If the road is in a rural area, the driver should be aware of the possibility of wildlife crossing the road and adjust their speed accordingly.
9. **Check Mirrors and Blind Spots**: Regularly checking mirrors and blind spots can help the driver stay aware of their surroundings and avoid potential hazards.
10. **Stay Within Speed Limits**: The driver should adhere to the posted speed limits to ensure safe driving conditions for all road users.
By following these safety guidelines, the driver can significantly reduce the risk of accidents and ensure a safe journey. |
| 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 fast. C. The ego vehicle is going straight. The ego vehicle is driving with normal speed. D. The ego vehicle is steering to the right. The ego vehicle is driving slowly. |
| GT Answer | B |
| InternVL2-2B | Based on the image, the ego vehicle is driving straight. The image shows the ego vehicle in the middle of a straight road with no visible signs of steering to the right or left. The vehicle appears to be moving at a normal speed, as indicated by the lack of motion blur and the consistent lane markings. Therefore, the correct answer is C. 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 steering to the right, and it is driving fast. |
| 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 with normal speed. |
| llava-v1.6-mistral-7b-hf | A. The ego vehicle is steering to the right. The ego vehicle is driving fast. |
