diff --git "a/log_prompt_pairs_train.json" "b/log_prompt_pairs_train.json" --- "a/log_prompt_pairs_train.json" +++ "b/log_prompt_pairs_train.json" @@ -1,60 +1,60 @@ { "ab8c747b-b9cb-3835-a275-54c56cb9a469": [ "pedestrian to the left of a truck", + "vehicle with a bicycle to its right", "parked box trucks", "vehicle passing stopped truck with pedestrian nearby", - "ego vehicle with parked bicycles ahead", - "group of people", + "regular vehicles that are stopped or nearly stopped", + "ego vehicle approaching stopped delivery truck", "stop sign behind a pedestrian", "pedestrian near stop sign", - "moving pedestrian within 3 meters to the left of ego vehicle", "vehicle being followed by ego vehicle while being overtaken on right", "regular vehicle turning right" ], "a4f72852-c2ff-35d3-8375-e52055508240": [ "box trucks within 10 meters of an intersection", - "any vehicle in front of stop sign", + "vehicle near multiple bollards", "vehicle facing the ego vehicle", + "vehicle being passed on the left by another vehicle", "vehicle two cars ahead is braking", - "vehicle facing toward parked vehicles", + "vehicle moving at crawling speed", "active vehicle at stop sign", - "ego vehicle following vehicle being overtaken on right", "vehicle stopped at a stop sign", "vehicle turning left while pedestrian crosses at crosswalk", "vehicle with a bicycle to its right" ], "a88da814-ecc6-39c0-93ba-8a81f403a7e4": [ - "motorcyclist", "motorcycle overtaking a vehicle", "pedestrian walking with dog on sidewalk", "bicycle behind a bus", - "vehicles being passed by a motorcycle on either side", + "vehicle two vehicles ahead is being crossed by a pedestrian", "dog near an intersection", + "dog", + "dog near pedestrian", "bicycle near a bus", - "vehicle accelerating aggressively", "bicycle being overtaken", "bicycle in same lane as a vehicle" ], "c71cd96c-8e3f-3861-9ece-fcbabebc63a8": [ "pedestrian to the left of a truck", - "vehicle hard braking with another vehicle ahead", - "vehicle to the back right of the ego vehicle", - "vehicle facing the ego vehicle", "passenger vehicle swerving left", - "vehicle traveling in the opposite direction as the ego vehicle", - "vehicle sharing a lane with another vehicle", + "accelerating vehicle changing lanes to the right", + "pedestrians over 30 meters away", + "parked vehicle", + "vehicle braking heavily", + "the active vehicle in front of the vehicle ahead", "vehicle facing toward parked vehicles", "car turning right", "truck on intersection" ], "e0ba7664-d287-39df-8193-00d60cae1417": [ - "the vehicle two cars behind the ego vehicle", - "vehicle accelerating on intersection", + "ego vehicle two cars ahead of another vehicle", + "dog near pedestrian", + "ego vehicle with parked bicycles ahead", "vehicle turning left with a bicycle in front of it", "pedestrian with multiple dogs", - "turning left", "bicycle facing toward a vehicle", - "pedestrian walking with dog on sidewalk", + "vehicle within 5 meters of a bicycle", "bicycle facing toward moving traffic", "vehicle traveling over 20 meters per second", "bicycle in same lane as a vehicle" @@ -64,17 +64,17 @@ "bicycle sharing lane as a regular vehicle", "pedestrian in front of a bicyclist who is to the left of a vehicle", "pedestrian crossing ahead of ego vehicle", - "ego vehicle approaching crossing pedestrians", - "ego vehicle approaching cyclist in same lane", - "bicyclist on intersection", + "bicycle in vehicle lane with vehicle", + "bicycle in same lane as a vehicle", "bicyclist within 3 meters on either side", + "bicycle following closely behind a vehicle", "vehicle at a stop sign", "pedestrian crossing in front of cyclist near intersection" ], "3b2994cb-5f82-4835-9212-0cac8fb3d164": [ - "motorcycle between two vehicles", "bicyclist changing lanes to the right", "pedestrian in front of a bicyclist who is to the left of a vehicle", + "bicyclist on intersection", "bicyclist within 3 meters on either side", "moving bicycle directly to the left of the ego vehicle", "bicycle near traffic cone", @@ -84,11 +84,11 @@ "vehicles being passed by a motorcycle on either side" ], "a7c9bb12-322e-3f8e-8798-cf57a4a72f99": [ + "bicycle in vehicle lane with vehicle", "ego vehicle approaching cyclist in same lane", - "bicyclist on intersection", "bicyclist riding in vehicle lane", - "group of people", - "car following closely behind bicyclist", + "bicycle in same lane as a vehicle", + "bicycle traveling with vehicle traffic", "bicycle on intersection", "bicycle sharing lane as a regular vehicle", "motorcycle near construction cone", @@ -96,38 +96,38 @@ "pedestrian turning and watching the ego vehicle" ], "ff8e7fdb-1073-3592-ba5e-8111bc3ce48b": [ - "pedestrian to the back-right of the ego vehicle", "pedestrian with multiple dogs", "vehicle near construction barrel", "vehicle with animal in front", - "stationary construction barrel", - "pedestrian between moving vehicles on both sides", - "vehicle stopped at construction barrel", - "vehicle accelerating while changing lanes", + "ego vehicle in dense traffic with lane-changing vehicles", + "bicycle facing toward a vehicle", + "group of three people", + "left lane change while there is a vehicle to the left", + "pedestrian walking with dog on sidewalk", "passenger vehicle turning left at intersection", "bicycle and vehicle traveling in bike lane" ], "47972731-b0ea-3c38-a10f-5ffdd42329fc": [ "truck on intersection", "ego vehicle approaching stopped truck", - "pedestrian crossing at bollard", + "vehicle being tailgated while approaching stopped traffic", "truck without trailer", "vehicle approaching and facing a stopped vehicle at an intersection", "truck sharing a lane with another truck", + "vehicle stopped at a stop sign", "truck cab with trailer sharing lane with regular vehicle", - "objects getting closer to the ego vehicle", "box truck changing lanes ahead", "box truck changing lanes to the right" ], "47167c79-2ba4-369c-8db8-760a30b4c38a": [ - "the vehicle two cars behind the ego vehicle", + "jaywalking pedestrian", "vehicle being tailgated while approaching stopped traffic", - "vehicle traveling in the same direction as the ego vehicle", "vehicle facing and heading toward pedestrian group", "bus with multiple pedestrians waiting on the right side", - "objects getting closer to the ego vehicle", - "pedestrian facing toward the bus", - "pedestrians over 30 meters away", + "vehicle to the back right of the ego vehicle", + "pedestrians facing each other at close range, possibly conversing", + "vehicle sharing a lane with another vehicle", + "vehicle traveling in the opposite direction as the ego vehicle", "car turning right", "vehicle making a right turn" ], @@ -145,58 +145,58 @@ ], "91cded81-9f72-3930-bab7-5d3e3fa0a220": [ "construction item on road", + "pedestrian near bollard", "vehicle with multiple bicycles ahead", "pedestrians, strollers, or wheeled devices at a pedestrian crossing", "ego vehicle following vehicle that is being overtaken on the right", "vehicle braking near jaywalking pedestrian or stroller", - "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters", "wheeled device (e.g., golf cart, segway) sharing a lane with a moving vehicle", "bicycle following closely behind a vehicle", "bicycle facing toward moving traffic", "ego vehicle changing lanes near construction zone" ], "bba89165-0e5d-3052-abb6-6a61e37861a3": [ - "vehicle sharing a lane with another vehicle", "vehicle near construction barrel", - "vehicle near multiple bollards", + "stationary object", + "parked vehicle", "ego vehicle near construction barrel", "stationary construction barrel", - "vehicle at a stop sign", - "any vehicle in front of stop sign", + "ego vehicle two cars ahead of another vehicle", + "dog near an intersection", "dog", "ego vehicle approaching construction barrels with a vehicle turning right ahead", "bicycle on intersection" ], "a0cb0614-ee71-3cf3-b891-a4274883362f": [ - "vehicle braking heavily", + "vehicle facing the ego vehicle", "ego vehicle two cars ahead of another vehicle", "vehicle traveling in the same direction as the ego vehicle", "parked vehicle", - "object that hasn't moved", + "vehicle traveling in the opposite direction as the ego vehicle", "the vehicle two cars behind the ego vehicle", + "stationary object", "accelerating passenger vehicle", - "vehicle sharing a lane with another vehicle", "multiple pedestrians crossing ahead", "vehicle braking near pedestrian crossing" ], "a3001373-ae03-3827-8e25-3da1720074ca": [ "ego vehicle changing lanes to the right with a vehicle ahead", - "vehicle with a bicycle to its right", "bus with at least 3 pedestrians within 5 meters", "bus with multiple pedestrians waiting on the right side", "bus changing lanes", "bicycle behind a bus", + "a group of people", + "vehicle within 5 meters of a bicycle", "city bus", - "vehicle two vehicles ahead is changing lanes", "bus in bus lane", "bicycle facing toward moving traffic" ], "97738d01-b24f-365e-8818-2463149154d2": [ "group of pedestrians ahead of the ego vehicle", + "ego vehicle approaching crossing pedestrians", "pedestrians using designated crossing", - "regular vehicles that are stopped or nearly stopped", - "pedestrian crossing ahead of ego vehicle", - "a group of people", + "pedestrian to the back-right of the ego vehicle", + "pedestrian near bollard", "accelerating vehicle changing lanes to the right", "ego vehicle changing lanes to the right with a vehicle ahead", "vehicle facing toward a pedestrian at a crosswalk", @@ -205,48 +205,48 @@ ], "c049334b-5568-3ca0-9b28-0c09d00b7bb3": [ "vehicle with multiple pedestrians to the left", - "vehicle stopped at a stop sign", - "vehicle navigating near multiple bicycles", + "motorcyclist", "bus in bus lane", "bus with multiple pedestrians waiting on the right side", + "pedestrians using designated crossing", "pedestrian crossing at bollard", - "vehicle two vehicles ahead is braking", - "active vehicle at stop sign", + "ego vehicle two cars ahead of another vehicle", + "motorcycle or pedestrian within 5 meters to the right", "bicycle passing by parked vehicle", "vehicle turning at intersection with nearby pedestrians" ], "3c56f1ef-d4df-30ae-80f3-0a5b22d4d3a6": [ "vehicle changing lanes while in bike lane", - "ego vehicle two cars ahead of another vehicle", - "jaywalking pedestrian", "regular vehicle turning right", + "vehicle two cars ahead is being crossed by a pedestrian", "passenger vehicle turning right", - "car turning right", + "oncoming vehicle changing lanes", "vehicle changing lanes through bike lane", - "stopped vehicle facing a turning vehicle between 5-20 meters away", + "vehicle being overtaken while approaching another vehicle", + "vehicle being passed on the left by another vehicle", "pedestrian on intersection not using a crosswalk", "group of pedestrians ahead of the ego vehicle" ], "7df1f32e-f059-3ac4-9d57-213f2f69b8b4": [ "ego vehicle approaching stopped delivery truck", - "pedestrian facing toward ego vehicle", "accelerating truck", + "vehicle being followed by ego vehicle while being overtaken on right", "vehicle changing lanes to the right", "parked box trucks", "box truck braking in front of ego vehicle", - "vehicle getting passed from the right", - "box trucks within 10 meters of an intersection", + "bicycle on intersection", + "vehicle near multiple bollards", "bicycle passing by parked vehicle", "bicycle in same lane as a vehicle" ], "7d1d720d-6708-3148-917a-b8dc78f1dcd9": [ - "jaywalking pedestrian", "bus in the same lane as a truck", + "pedestrian crossing ahead of ego vehicle", "ego vehicle approaching stopped truck", "moving pedestrian within 3 meters to the left of ego vehicle", + "pedestrian crossing at bollard", "truck in the same lane as a bus", "vehicle passing truck with pedestrian crossing ahead", - "pedestrian walking alongside bollard", "multiple pedestrians crossing ahead", "vehicle braking at pedestrian crossing", "moving bus to the front-left of the ego vehicle" @@ -254,45 +254,45 @@ "1d950a38-5c2f-39ce-9cd3-61249bc85194": [ "bicycle and vehicle traveling in bike lane", "bicycle traveling against traffic", - "bicycle traveling with vehicle traffic", "bicycle facing toward a vehicle", "moving bicycle directly to the left of the ego vehicle", "bicycle facing toward moving traffic", + "motorcyclist", "bicycle following closely behind a vehicle", "motorcyclist traveling opposite to bicycle traffic", "motorcycle in bike lane", "vehicle braking heavily" ], "756f4ed0-5352-31e4-b3c6-2841b9e779d7": [ - "vehicle being overtaken while approaching another vehicle", - "the vehicle two cars in front of the ego vehicle", "vehicle two vehicles ahead is changing lanes", - "vehicle accelerating aggressively", + "object that hasn't moved", "vehicle changing lanes to the right", "vehicle two cars ahead is changing lanes", + "vehicle being followed by ego vehicle while being overtaken on right", + "passenger vehicle turning left at intersection", "passenger vehicle turning right", - "vehicle accelerating towards pedestrian crossing", + "ego vehicle following vehicle being overtaken on right", "vehicle facing toward a pedestrian at a crosswalk", "ego vehicle following vehicle that is being overtaken on the right" ], "a4e62775-131f-37c4-9239-c38e3b254dad": [ "truck without trailer", - "vehicle hard braking with another vehicle ahead", - "vehicle approaching stopped vehicle at intersection", - "ego vehicle approaching stopped delivery truck", "passenger vehicle swerving left", "semi truck within 30 meters ahead of ego vehicle", "ego vehicle following vehicle being overtaken on right", + "parked box trucks", + "accelerating vehicle changing lanes to the right", "box truck braking in front of ego vehicle", + "ego vehicle in dense traffic with lane-changing vehicles", "vehicle being overtaken on the left", "vehicle with multiple construction cones on the left side" ], "6aae7f38-21de-31bf-8761-29d458338958": [ - "vehicle traveling in the opposite direction as the ego vehicle", "vehicle making a right turn", - "vehicle at intersection facing another vehicle", "car turning right", + "vehicle near multiple bollards", "vehicle traveling in the same direction as the ego vehicle", + "vehicle moving at crawling speed", "vehicle facing toward parked vehicles", "vehicle getting passed from the right", "vehicle to the back right of the ego vehicle", @@ -300,50 +300,50 @@ "ego vehicle changing lanes to the left" ], "ad870270-f3d8-3790-866a-78d61b5b76ee": [ - "construction item on road", "vehicle stopped at construction barrel", "vehicle in close proximity to bicycle", + "vehicle with a bicycle to its right", "vehicle navigating near multiple bicycles", "vehicle near construction barrel", - "vehicle facing toward a pedestrian at a crosswalk", - "stationary construction barrel", + "moving pedestrian within 3 meters to the left of ego vehicle", "wheeled device (e.g., golf cart, segway) sharing a lane with a moving vehicle", + "vehicle within 5 meters of a bicycle", "vehicle facing and heading toward pedestrian group", "vehicle two vehicles ahead is changing lanes" ], "74a3e9ae-6811-4d11-a112-4c4963773cfe": [ - "pedestrian crossing between bollards", - "pedestrians over 30 meters away", + "vehicle being crossed by a pedestrian", "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters", - "stationary object", - "pedestrian crossing ahead of ego vehicle", - "regular vehicles that are stopped or nearly stopped", + "a group of people", + "ego vehicle approaching crossing pedestrians", + "group of people", "stopped car", + "vehicle with a bicycle to its right", "pedestrian crossing in front of vehicle at crosswalk", "regular vehicle turning right", "passenger vehicle turning left at intersection" ], "737314f0-997a-3cd1-a652-78453bfe2b57": [ "vehicle passing truck with pedestrian crossing ahead", - "vehicle changing lanes to the right", - "vehicle being followed by ego vehicle while being overtaken on right", - "vehicle changing lanes while on an intersection", + "vehicle with a bicycle to its right", "vehicle being overtaken on the right", - "vehicle crossing path of another vehicle", + "vehicle following another vehicle too closely", "semi truck within 30 meters ahead of ego vehicle", "truck without trailer", + "ego vehicle following vehicle being overtaken on right", + "vehicle being overtaken while approaching another vehicle", "pedestrian to the left of a truck", "wheeled rider crossing in front of vehicle at stop sign" ], "d9530d0a-b83e-44a3-910a-2b5bb8f1fb80": [ "the active vehicle in front of the vehicle ahead", - "stopped car", - "bus within 5 meters to either side of ego vehicle", + "accelerating passenger vehicle", + "vehicle traveling in the opposite direction as the ego vehicle", + "vehicle following another vehicle too closely", "regular vehicles that are stopped or nearly stopped", - "vehicle facing toward parked vehicles", - "vehicle being overtaken on the right", - "the vehicle two cars in front of the ego vehicle", - "at least active 2 vehicles within 15 meters behind ego vehicle", + "vehicle moving at crawling speed", + "vehicle sharing a lane with another vehicle", + "vehicle getting passed from the right", "vehicle near multiple bollards", "vehicle being followed by ego vehicle while being overtaken on right" ], @@ -351,34 +351,34 @@ "vehicle accelerating aggressively", "ego vehicle near bollard", "vehicle turning right with pedestrian waiting", - "the vehicle behind another vehicle being crossed by a jaywalking pedestrian", - "vehicle navigating near multiple bicycles", + "multiple pedestrians crossing ahead", "pedestrian crossing ahead of ego vehicle", - "accelerating truck", - "vehicle at a stop sign", + "pedestrian to the back-right of the ego vehicle", + "vehicle with multiple bicycles ahead", + "bicycle following closely behind a vehicle", "vehicle accelerating while changing lanes", "vehicle facing and heading toward pedestrian group" ], "fb2cce69-655d-3203-990a-74301895408d": [ - "pedestrian near stop sign", + "vehicle at a stop sign", + "turning left", "dog on roadway", - "vehicle two cars ahead is being crossed by a pedestrian", "pedestrian with multiple dogs", - "pedestrian walking past right side of vehicle", "dog crossing in front of vehicle", - "vehicle stopped at a stop sign", + "vehicle accelerating more than two meters per second", "stop sign behind a pedestrian", + "any vehicle in front of stop sign", "vehicle making a right turn", "multiple motorcycles ahead of the ego vehicle" ], "d3dc783e-663a-31b1-bd85-46e04ca693db": [ - "vehicle being overtaken while approaching another vehicle", - "vehicle braking heavily", + "truck on intersection", "vehicle passing truck with pedestrian crossing ahead", "vehicle changing lanes while in bike lane", "truck without trailer", + "vehicle crossing path of another vehicle", "vehicle changing lanes through bike lane", - "vehicle being passed on the left by another vehicle", + "parked box trucks", "semi truck within 30 meters ahead of ego vehicle", "ego vehicle approaching pedestrian at crosswalk", "pedestrian to the back-right of the ego vehicle" @@ -386,69 +386,69 @@ "968e77fb-9ab1-3427-8984-9e3028b186e2": [ "pedestrian on road not facing traffic", "pedestrian walking alongside stopped bus", - "pedestrian to the back-right of the ego vehicle", + "accelerating vehicle changing lanes to the right", "vehicle navigating near multiple bicycles", "vehicle with multiple bicycles ahead", - "motorcycle or pedestrian within 5 meters to the right of the ego vehicle", + "the vehicle two cars behind the ego vehicle", "motorcyclist braking hard", "passenger vehicle swerving left", "vehicle two vehicles ahead is braking", "vehicle accelerating towards pedestrian crossing" ], "b28a3715-4624-3a54-9652-b8f0b293a5a8": [ - "vehicle being followed by ego vehicle while being overtaken on right", "ego vehicle changing lanes to the right with a vehicle ahead", + "vehicle facing away from the ego vehicle", "vehicle being overtaken while approaching another vehicle", - "vehicle approaching stopped vehicle at intersection", + "vehicle two vehicles ahead is changing lanes", "vehicle being overtaken on the left", "vehicle accelerating towards pedestrian crossing", "ego vehicle merging between two regular vehicles", - "accelerating vehicle changing lanes to the right", + "vehicle accelerating aggressively", "turning left", "vehicle approaching and facing a stopped vehicle at an intersection" ], "9a25fd14-783b-35c3-ab2d-df4687f82b5e": [ - "ego vehicle approaching pedestrian at crosswalk", "stop sign behind a pedestrian", - "vehicle facing toward a pedestrian at a crosswalk", - "vehicle turning right with pedestrian waiting", + "pedestrian crossing in front of vehicle at crosswalk", "motorcycle or pedestrian within 5 meters to the right of the ego vehicle", "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters", "vehicle in close proximity to bicycle", "pedestrian near stop sign", + "pedestrian between moving vehicles on both sides", + "stopped vehicles at intersection being crossed by pedestrians", "vehicle accelerating aggressively", "vehicle facing and accelerating toward pedestrian on road" ], "ebece6dc-ec92-326f-97ed-f66b2970e358": [ "vehicle being passed on the left by another vehicle", - "ego vehicle in dense traffic with lane-changing vehicles", + "left lane change while there is a vehicle to the left", + "motorcyclist", "vehicle changing lanes", + "turning left", "vehicle hard braking with another vehicle ahead", "vehicle braking heavily", "vehicle crossing path of another vehicle", - "the vehicle two cars in front of the ego vehicle", - "vehicle directly facing a moving pedestrian from 5-15 meters away", "pedestrian in front of a bicyclist who is to the left of a vehicle", "the vehicle behind another vehicle being crossed by a jaywalking pedestrian" ], "1579b300-e7f5-3318-97c2-2c827b0c411e": [ "vehicle navigating near multiple bicycles", - "vehicle with a bicycle to its right", + "stopped car", "vehicle accelerating on intersection", "the active vehicle in front of the vehicle ahead", "turning left", - "vehicle getting passed from the right", - "vehicle facing toward a pedestrian at a crosswalk", + "the vehicle two cars behind the ego vehicle", + "vehicle two vehicles ahead is turning", "two cars back from the ego vehicle", "pedestrian on road not facing traffic", "any vehicle in front of stop sign" ], "1b8fc962-7036-4d7f-885e-40b631cbdeaf": [ - "vehicle at intersection facing another vehicle", "stationary construction barrel", - "ego vehicle with vehicles on both sides", - "vehicle accelerating more than two meters per second", + "vehicle to the back right of the ego vehicle", "pedestrian to the left of a truck", + "vehicle being overtaken while approaching another vehicle", + "vehicle getting passed from the right", "box truck braking in front of ego vehicle", "car driving in bus lane", "ego vehicle approaching stopped delivery truck", @@ -457,55 +457,55 @@ ], "87ce1d90-ca77-363b-a885-ec0ef6783847": [ "motorcycle between stopped vehicles", - "ego vehicle approaching crossing pedestrians", + "motorcycle between two vehicles", "vehicle braking near jaywalking pedestrian or stroller", + "pedestrian walking with stroller", "moving pedestrian within 3 meters to the left of ego vehicle", "car with a stroller to its left", "passenger vehicle near stroller in road", "multiple pedestrians crossing ahead", - "vehicle two vehicles ahead is being crossed by a pedestrian", "vehicle making a right turn", "vehicle braking at pedestrian crossing" ], "094c4119-eb33-3dfb-a18d-492cbdc8413a": [ - "vehicle behind another vehicle that has a pedestrian on its right side", - "turning left", + "vehicle crossing path of another vehicle", "vehicle with multiple pedestrians to the left", "pedestrian between moving vehicles on both sides", "vehicle being crossed by a pedestrian", - "vehicle accelerating on intersection", - "vehicle near multiple bollards", - "vehicle accelerating more than two meters per second", + "vehicle facing toward parked vehicles", + "vehicle two vehicles ahead is braking", + "vehicle to the back right of the ego vehicle", + "vehicle hard braking with another vehicle ahead", "making a left lane change while there is a vehicle to the right", "dog crossing in front of vehicle" ], "c1a6c20c-e336-3efa-81b6-7c1242d70bd2": [ - "active vehicle at stop sign", - "vehicle sharing a lane with another vehicle", - "vehicle two vehicles ahead is changing lanes", - "ego vehicle driving on a clear day", - "vehicle two cars ahead is changing lanes", + "parked vehicle", + "the vehicle two cars in front of the ego vehicle", + "ego vehicle two cars ahead of another vehicle", + "vehicle stopped at a stop sign", + "ego vehicle driving on a clear day", "ego vehicle driving during daylight", - "vehicle at a stop sign", "ego vehicle driving while it is cloudy", + "object that hasn't moved", "ego vehicle with vehicles on both sides", "vehicle two cars ahead is braking" ], "f03bfd11-5ba2-3bc6-ad76-4166b06491f5": [ "city bus", - "the vehicle behind another vehicle being crossed by a jaywalking pedestrian", + "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters", + "vehicle two vehicles ahead is changing lanes", "ego vehicle near articulated bus", - "pedestrian facing toward the bus", "car driving in bus lane", + "vehicle being overtaken on the left", "box truck braking in front of ego vehicle", "ego vehicle changing lanes to the left", - "stopped vehicles at intersection being crossed by pedestrians", "box truck in bike lane", "vehicle braking at pedestrian crossing" ], "c70b2c64-7a9a-37c5-b974-709fa0536675": [ - "vehicle with a bicycle to its right", "bicycle passing by parked vehicle", + "vehicle being followed by ego vehicle while being overtaken on right", "bicycle traveling with vehicle traffic", "bicycle facing toward moving traffic", "ego vehicle following vehicle being overtaken on right", @@ -517,84 +517,84 @@ ], "b98a7838-ac1f-339f-93c5-fe7f98ea8657": [ "ego vehicle with parked bicycles ahead", - "vehicle facing toward a pedestrian at a crosswalk", "vehicle within 5 meters of a bicycle", + "pedestrian near construction cone", "passenger vehicle swerving left", "vehicle being crossed by a pedestrian", "ego vehicle near construction cone", "vehicle with a bicycle to its right", - "vehicle facing toward parked vehicles", + "vehicle with multiple pedestrians to the left", "vehicle approaching stopped vehicle at intersection", "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters" ], "c6940de1-dccf-3b42-9c39-bbb9feb2d638": [ "bicycle in vehicle lane with vehicle", "bicycle on intersection", + "bicyclist on intersection", "bicycle in same lane as a vehicle", "ego vehicle approaching cyclist in same lane", "bicycle sharing lane as a regular vehicle", "bicycle traveling with vehicle traffic", "car following closely behind bicyclist", - "bicyclist riding in vehicle lane", "vehicle approaching pedestrians waiting at a crosswalk", "bicyclist within 3 meters on either side" ], "d97ae2c0-b8d1-341c-94b7-f19d5fd2982a": [ + "stopped car", + "vehicle two cars ahead is changing lanes", "vehicle two vehicles ahead is changing lanes", "truck changing lanes to the right", "truck cab with trailer sharing lane with regular vehicle", - "vehicle sharing a lane with another vehicle", "regular vehicles that are stopped or nearly stopped", "vehicle two vehicles ahead is braking", "truck without trailer", - "parked vehicle", "vehicle with multiple pedestrians to the left", "box truck in bike lane" ], "1e6f21fd-5c8a-3526-ac50-72adae89d6a8": [ - "pedestrian on intersection not using a crosswalk", + "pedestrians over 30 meters away", + "ego vehicle with parked bicycles ahead", "motorcycle between two vehicles", "motorcyclist", - "pedestrians using designated crossing", "vehicle turning right with pedestrian in front", "vehicles being passed by a motorcycle on either side", - "pedestrians facing each other at close range, possibly conversing", + "vehicle with a bicycle to its right", "vehicle two vehicles ahead is turning", "wheeled rider crossing between moving vehicles", "stopped car" ], "9f6d282e-f573-31d5-80e6-9a193e80cd7d": [ "bicycle crossing vehicle path at intersection", + "bicyclist on intersection", "ego vehicle approaching cyclist in same lane", "vehicle changing lanes through bike lane", "pedestrian to the left of a truck", "box truck braking in front of ego vehicle", "vehicle passing stopped truck with pedestrian nearby", "bicycle on intersection", - "vehicles being passed by a motorcycle on either side", "ego vehicle approaching crossing pedestrians", "multiple buses within 50 meters ahead" ], "50d508e2-6753-4519-a8c3-ad94a76ee948": [ - "vehicle being overtaken while approaching another vehicle", + "pedestrian to the back-right of the ego vehicle", + "pedestrians over 30 meters away", + "the vehicle two cars in front of the ego vehicle", "motorcycle or pedestrian within 5 meters to the right of the ego vehicle", - "vehicle being overtaken on the right", - "stopped car", "vehicle with multiple pedestrians to the left", "parked vehicle", - "vehicle following another vehicle too closely", + "vehicle at intersection facing another vehicle", "pedestrian facing toward ego vehicle", "group of three people", "jaywalking pedestrian" ], "121007f3-a0cc-3795-9606-85108b800772": [ + "accelerating vehicle changing lanes to the right", + "vehicle changing lanes while on an intersection", "vehicle crossing path of another vehicle", - "vehicle accelerating on intersection", - "the active vehicle in front of the vehicle ahead", - "vehicle changing lanes", + "the vehicle two cars behind the ego vehicle", + "vehicle changing lanes to the right", "vehicle getting passed from the right", - "turning left", - "passenger vehicle swerving left", + "two cars back from the ego vehicle", "vehicle accelerating more than two meters per second", "stopped vehicles at intersection being crossed by pedestrians", "vehicle changing lanes" @@ -602,24 +602,24 @@ "22dcf96c-ef5e-376b-9db5-dc9f91040f5e": [ "motorcycle between two vehicles", "vehicle two vehicles ahead is at a stop sign", + "vehicle at a stop sign", "motorcycle or pedestrian within 5 meters to the right", "oncoming vehicle changing lanes", "motorcycle between stopped vehicles", - "left lane change while there is a vehicle to the left", + "motorcycle or pedestrian within 5 meters to the right of the ego vehicle", "vehicle turning right with pedestrian in front", - "jaywalking pedestrian", "at least active 2 vehicles within 15 meters behind ego vehicle", "bicycle traveling alongside parked vehicles" ], "ba66bb3c-5437-4bc6-afe3-299109e5ced4": [ - "vehicle facing the ego vehicle", "vehicle traveling in the opposite direction as the ego vehicle", - "ego vehicle following vehicle being overtaken on right", + "vehicle being followed by ego vehicle while being overtaken on right", "passenger vehicle swerving left", - "vehicle facing away from the ego vehicle", + "vehicle two cars ahead is braking", + "accelerating passenger vehicle", + "vehicle traveling in the same direction as the ego vehicle", "vehicle being overtaken while approaching another vehicle", - "vehicle following another vehicle too closely", - "vehicle at intersection facing another vehicle", + "the vehicle two cars in front of the ego vehicle", "vehicle braking at pedestrian crossing", "vehicle turning right at stop sign" ], @@ -637,45 +637,45 @@ ], "5f2b8881-3447-3905-99f8-def9d72aae42": [ "vehicle turning at intersection with nearby pedestrians", - "passenger vehicle turning right", "car turning right", + "stopped vehicle facing a turning vehicle between 5-20 meters away", "bicyclist changing lanes to the right", "vehicle turning right with pedestrian in front", "regular vehicle turning right", "vehicle making a right turn", - "accelerating passenger vehicle", + "vehicle two vehicles ahead is turning", "vehicle two vehicles ahead is braking", "vehicle changing lanes through bike lane" ], "332b278a-a6b9-3bc3-b88c-241e4b03b4ef": [ - "ego vehicle approaching crossing pedestrians", + "two cars back from the ego vehicle", "the vehicle behind another vehicle being crossed by a jaywalking pedestrian", "the vehicle two cars in front of the ego vehicle", - "pedestrian crossing ahead of ego vehicle", - "pedestrian between moving vehicles on both sides", "stopped vehicles at intersection being crossed by pedestrians", + "the active vehicle in front of the vehicle ahead", + "vehicle accelerating on intersection", "vehicle accelerating more than two meters per second", "vehicle turning left at intersection while sharing lane with a bus", "box truck changing lanes ahead", "ego vehicle with parked bicycles ahead" ], "ff6adc87-5f47-32f7-b36a-546453c0e332": [ - "vehicle two cars ahead is being crossed by a pedestrian", + "dog near pedestrian", + "motorcycle between stopped vehicles", + "motorcycle between two vehicles", "vehicle with multiple bicycles ahead", "dog crossing in front of vehicle", "pedestrians facing each other at close range, possibly conversing", - "turning left", "motorcycle or pedestrian within 5 meters to the right", "dog on roadway", - "motorcycle or pedestrian within 5 meters to the right of the ego vehicle", "vehicle being passed on the left by another vehicle", "vehicle facing toward a pedestrian at a crosswalk" ], "9a372faa-e598-30e2-999f-99f90a0b099e": [ "dog on roadway", + "stop sign behind a pedestrian", + "pedestrian walking with dog on sidewalk", "ego vehicle near stroller on sidewalk", - "pedestrian near stop sign", - "dog near pedestrian", "pedestrian with multiple dogs", "passenger vehicle near stroller in road", "stroller", @@ -684,74 +684,74 @@ "vehicle being passed on the left by another vehicle" ], "bd73bd15-8a42-3aa9-8eb7-cff9f894d43b": [ - "vehicle in close proximity to bicycle", + "pedestrian walking past right side of vehicle", "stationary construction barrel", - "accelerating vehicle changing lanes to the right", + "parked vehicle", "vehicle near construction barrel", "vehicle approaching stopped vehicle at intersection", - "bicycle following closely behind a vehicle", "vehicle within 5 meters of a bicycle", "vehicle accelerating towards pedestrian crossing", + "ego vehicle with parked bicycles ahead", "vehicle maneuvering between construction barriers", "bicycle traveling against traffic" ], "1842383a-1577-3b7a-90db-41a9a6668ee2": [ "pedestrians, strollers, or wheeled devices at a pedestrian crossing", - "wheeled device (e.g., golf cart, segway) sharing a lane with a moving vehicle", "car with a stroller to its left", "vehicle turning while pedestrian crosses with stroller", "unattended stroller", "vehicle turning right next to pedestrian with stroller", "stroller in the same lane as a regular vehicle", "passenger vehicle near stroller in road", + "vehicle turning left while pedestrian crosses at crosswalk", "pedestrian with stroller jaywalking", "ego vehicle near stroller on sidewalk" ], "d9c267be-f19a-3183-afe0-f0625a375743": [ - "regular vehicles that are stopped or nearly stopped", - "dog near an intersection", "oncoming vehicle changing lanes", "pedestrian with multiple dogs", - "ego vehicle two cars ahead of another vehicle", - "at least active 2 vehicles within 15 meters behind ego vehicle", - "vehicle approaching stopped vehicle at intersection", - "dog", + "vehicle moving at crawling speed", + "vehicle two vehicles ahead is braking", + "car following closely behind bicyclist", + "vehicle being followed by ego vehicle while being overtaken on right", + "vehicle with multiple pedestrians to the left", + "making a left lane change while there is a vehicle to the right", "passenger vehicle turning left at intersection", "vehicle turning near group of cyclists" ], "d1695c5e-08a9-44fd-8f45-93c23f700c8b": [ - "vehicle hard braking with another vehicle ahead", - "vehicle at intersection facing another vehicle", + "vehicle facing toward parked vehicles", + "vehicle directly facing a moving pedestrian from 5-15 meters away", + "vehicle traveling in the opposite direction as the ego vehicle", "vehicle moving at crawling speed", - "vehicle accelerating more than two meters per second", + "vehicle sharing a lane with another vehicle", "vehicle changing lanes", "vehicle facing the ego vehicle", - "vehicle facing away from the ego vehicle", "vehicle traveling over 20 meters per second", "oncoming vehicle changing lanes", "ego vehicle following vehicle that is being overtaken on the right" ], "ee27a871-85cf-494c-8519-f54815040af5": [ + "vehicle accelerating on intersection", "vehicle being passed on the left by another vehicle", + "vehicle being followed by ego vehicle while being overtaken on right", "pedestrian near stop sign", - "vehicle with multiple pedestrians to the left", - "moving bus to the front-left of the ego vehicle", - "vehicle being overtaken while approaching another vehicle", - "vehicle being overtaken on the left", - "vehicle near multiple bollards", - "stop sign behind a pedestrian", + "ego vehicle near construction barrel", + "turning left", + "at least active 2 vehicles within 15 meters behind ego vehicle", + "vehicle being overtaken on the right", "stopped vehicle facing a turning vehicle between 5-20 meters away", "vehicle stopped at construction barrel" ], "4f1b4bb2-b30b-3537-8fed-dd8f843f5adb": [ + "vehicle making a right turn", "ego vehicle merging between two regular vehicles", "ego vehicle changing lanes to the left", + "vehicle being tailgated while approaching stopped traffic", "vehicle approaching and facing a stopped vehicle at an intersection", "vehicle turning at intersection with nearby pedestrians", "pedestrian approaching a parked vehicle", "ego vehicle changing lanes to the right with a vehicle ahead", - "vehicle at intersection facing another vehicle", - "objects getting closer to the ego vehicle", "pedestrian to the back-right of the ego vehicle", "ego vehicle approaching pedestrian at crosswalk" ], @@ -759,11 +759,11 @@ "dog on roadway", "ego vehicle changing lanes to the left", "vehicle stopped at a stop sign", - "pedestrian walking with dog on sidewalk", + "vehicle facing toward parked vehicles", + "stopped vehicles at intersection being crossed by pedestrians", + "pedestrian crossing ahead of ego vehicle", "vehicle turning at intersection with nearby pedestrians", - "ego vehicle approaching crossing pedestrians", - "dog near an intersection", - "moving bus to the front-left of the ego vehicle", + "pedestrian turning and watching the ego vehicle", "ego vehicle merging between two regular vehicles", "vehicle two vehicles ahead is turning" ], @@ -784,21 +784,21 @@ "city bus", "ego vehicle near articulated bus", "vehicle braking at pedestrian crossing", + "multiple buses within 50 meters ahead", "vehicle passing stopped truck with pedestrian nearby", "bus with multiple pedestrians waiting on the right side", "vehicle braking near pedestrian crossing", - "stop sign behind a pedestrian", "unattended stroller", "bicycle on intersection" ], "d47507ce-b079-395e-8761-8e70818ea69a": [ - "vehicle braking heavily", - "vehicle changing lanes", + "vehicle sharing a lane with another vehicle", + "vehicle changing lanes while on an intersection", + "vehicle directly facing a moving pedestrian from 5-15 meters away", + "vehicle facing away from the ego vehicle", "accelerating vehicle changing lanes to the right", - "ego vehicle following vehicle being overtaken on right", - "vehicle being overtaken on the right", - "vehicle being passed on the left by another vehicle", - "at least active 2 vehicles within 15 meters behind ego vehicle", + "vehicle hard braking with another vehicle ahead", + "vehicle getting passed from the right", "vehicle crossing path of another vehicle", "objects getting closer to the ego vehicle", "pedestrian turning and watching the ego vehicle" @@ -807,105 +807,105 @@ "ego vehicle approaching stopped delivery truck", "semi truck within 30 meters ahead of ego vehicle", "truck without trailer", + "bicycle in vehicle lane with vehicle", "moving bicycle directly to the left of the ego vehicle", "bicyclist within 3 meters on either side", - "parked box trucks", - "bicycle traveling alongside parked vehicles", - "bicycle sharing lane as a regular vehicle", + "bicycle in same lane as a vehicle", + "pedestrian in front of a bicyclist who is to the left of a vehicle", "pedestrian crossing ahead of ego vehicle", "vehicle braking at pedestrian crossing" ], "d2901fe5-4b64-3144-98e1-67ef5ef83fa7": [ + "bicycle traveling with vehicle traffic", "bicyclist riding in vehicle lane", - "motorcycle between stopped vehicles", + "bicycle traveling alongside parked vehicles", + "bicycle passing by parked vehicle", "ego vehicle approaching cyclist in same lane", "bicycle sharing lane as a regular vehicle", - "bicycle in same lane as a vehicle", "motorcyclist traveling opposite to bicycle traffic", - "bicycle in vehicle lane with vehicle", "bicycle and vehicle traveling in bike lane", "vehicle changing lanes through bike lane", "ego vehicle approaching pedestrian at crosswalk" ], "78cbd619-8ded-35b8-87a1-38c4f4aeb82d": [ + "ego vehicle with vehicles on both sides", "vehicle behind another vehicle that has a pedestrian on its right side", - "the vehicle two cars in front of the ego vehicle", - "motorcycle or pedestrian within 5 meters to the right of the ego vehicle", - "pedestrians facing each other at close range, possibly conversing", + "accelerating passenger vehicle", + "vehicle near multiple bollards", + "pedestrians using designated crossing", + "pedestrian near bollard", "vehicle with multiple pedestrians to the left", "pedestrian crossing between bollards", - "vehicle facing toward a pedestrian at a crosswalk", - "the active vehicle in front of the vehicle ahead", "the vehicle behind another vehicle being crossed by a jaywalking pedestrian", "group of people" ], "286790ed-9dec-305b-bcad-4f8153301e7c": [ "bus with at least 3 pedestrians within 5 meters", "group of pedestrians ahead of the ego vehicle", - "vehicle with a bicycle to its right", - "vehicle changing lanes while on an intersection", "moving bus to the front-left of the ego vehicle", - "vehicle accelerating on intersection", "bus changing lanes", - "accelerating vehicle changing lanes to the right", + "pedestrians facing each other at close range, possibly conversing", + "group of people", + "oncoming vehicle changing lanes", + "two cars back from the ego vehicle", "bicycle in same lane as a vehicle", "bicycle passing by parked vehicle" ], "c2ec8955-1797-338f-9486-d7c41926f791": [ - "vehicle two vehicles ahead is being crossed by a pedestrian", + "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters", "pedestrians using designated crossing", "ego vehicle changing lanes to the left", - "motorcycle between two vehicles", - "group of three people", - "vehicle two cars ahead is changing lanes", + "pedestrian to the back-right of the ego vehicle", "vehicle two cars ahead is being crossed by a pedestrian", "ego vehicle merging between two regular vehicles", + "pedestrian near bollard", + "vehicle accelerating while changing lanes", "stopped vehicles at intersection being crossed by pedestrians", "multiple motorcycles ahead of the ego vehicle" ], "6f2f7d1e-8ded-35c5-ba83-3ca906b05127": [ - "ego vehicle approaching pedestrian at crosswalk", + "vehicle directly facing a moving pedestrian from 5-15 meters away", "vehicle turning at intersection with nearby pedestrians", + "passenger vehicle turning left at intersection", "bicycle facing toward a vehicle", - "vehicle being overtaken on the right", - "bicycle facing toward moving traffic", - "vehicle turning right with pedestrian in front", + "vehicle changing lanes to the right", "vehicle with multiple bicycles ahead", + "vehicle changing lanes", "vehicle two vehicles ahead is turning", "ego vehicle passing parked bus", "vehicle changing lanes near group of cyclists" ], "aa82b61f-7156-3c68-95a4-b79cebd120eb": [ - "motorcyclist", - "motorcycle or pedestrian within 5 meters to the right of the ego vehicle", + "ego vehicle near bollard", "passenger vehicle swerving left", "vehicle accelerating aggressively", "vehicle changing lanes through bike lane", - "motorcycle or pedestrian within 5 meters to the right", + "accelerating vehicle changing lanes to the right", + "vehicles being passed by a motorcycle on either side", "vehicle changing lanes while in bike lane", - "vehicle accelerating towards pedestrian crossing", + "vehicle two cars ahead is changing lanes", "vehicle facing toward a pedestrian at a crosswalk", "vehicle facing and heading toward pedestrian group" ], "d9fd666a-8f55-38bb-8387-80fa44c29348": [ "car following closely behind bicyclist", - "bicycle following closely behind a vehicle", "moving bicycle directly to the left of the ego vehicle", - "bicycle in vehicle lane with vehicle", - "bicycle in same lane as a vehicle", + "bicyclist riding in vehicle lane", "bicycle crossing vehicle path at intersection", + "bicyclist on intersection", "bicycle on intersection", + "bicycle sharing lane as a regular vehicle", "ego vehicle approaching cyclist in same lane", "pedestrian near bollard", "bicycle being overtaken" ], "080b1ce2-9477-39ee-8233-b7f33e1dfe56": [ "pedestrian facing toward the bus", + "oncoming vehicle changing lanes", "moving bus to the front-left of the ego vehicle", "truck in the same lane as a bus", - "accelerating truck", - "pedestrian to the back-right of the ego vehicle", - "pedestrians facing each other at close range, possibly conversing", + "bicycle facing toward a vehicle", + "ego vehicle following vehicle being overtaken on right", "bus in the same lane as a truck", "railed vehicle", "left lane change while there is a vehicle to the left", @@ -914,71 +914,71 @@ "0f257dcc-8606-3ef9-b17e-b022a3fc72c7": [ "bicyclist riding in vehicle lane", "ego vehicle approaching cyclist in same lane", + "bicyclist on intersection", "moving bicycle directly to the left of the ego vehicle", "bicycle traveling with vehicle traffic", "bicyclist within 3 meters on either side", - "bicycle in same lane as a vehicle", "pedestrian in front of a bicyclist who is to the left of a vehicle", - "bicycle following closely behind a vehicle", + "bicycle sharing lane as a regular vehicle", "oncoming vehicle changing lanes", "vehicle being overtaken on the right" ], "0fc6aa34-323a-33bb-9804-2004599bcd06": [ - "bicycle traveling with vehicle traffic", "bicyclist on intersection", "ego vehicle near construction cone", + "bicycle traveling alongside parked vehicles", "bicycle on intersection", "bicycle traveling against traffic", - "bicycle in vehicle lane with vehicle", - "bicycle in same lane as a vehicle", + "jaywalking pedestrian", + "bicyclist riding in vehicle lane", "bicycle crossing vehicle path at intersection", "vehicle traveling over 20 meters per second", "pedestrian walking alongside bollard" ], "be94abe3-f84c-34d6-8461-3105bcfcedb7": [ "parked box trucks", - "ego vehicle approaching stopped delivery truck", - "pedestrian near bollard", - "dog", - "vehicle being followed by ego vehicle while being overtaken on right", + "pedestrians over 30 meters away", + "vehicle with multiple pedestrians to the left", + "pedestrian walking with dog on sidewalk", + "pedestrian walking alongside bollard", "pedestrian crossing between bollards", - "a group of people", + "two cars back from the ego vehicle", "passenger vehicle swerving left", "vehicle two cars ahead is braking", "ego vehicle merging between two regular vehicles" ], "11420316-aec9-3ad9-8b4a-d618bcd180e9": [ "pedestrian with multiple dogs", + "bicycle traveling with vehicle traffic", "bicycle traveling against traffic", - "bicycle passing by parked vehicle", "moving pedestrian within 3 meters to the left of ego vehicle", "bicycle in vehicle lane with vehicle", + "group of three people", "moving bicycle directly to the left of the ego vehicle", "bicyclist within 3 meters on either side", - "pedestrian in front of a bicyclist who is to the left of a vehicle", "vehicle navigating near multiple bicycles", "pedestrian walking with stroller" ], "46d917cd-531c-330b-8d7b-979b51a8927f": [ - "bus with at least 3 pedestrians within 5 meters", - "two cars back from the ego vehicle", - "the vehicle behind another vehicle being crossed by a jaywalking pedestrian", + "city bus", + "pedestrian crossing between bollards", + "pedestrian walking alongside stopped bus", + "vehicle being tailgated while approaching stopped traffic", + "bus with multiple pedestrians waiting on the right side", "pedestrian crossing ahead of ego vehicle", - "vehicle at intersection facing another vehicle", - "vehicle being overtaken while approaching another vehicle", + "ego vehicle approaching crossing pedestrians", "bus within 5 meters to either side of ego vehicle", - "stopped car", - "ego vehicle near articulated bus", - "bicycle in vehicle lane with vehicle" + "bicycle crossing vehicle path at intersection", + "ego vehicle near articulated bus" ], "bdd7e8ba-f7fa-38d1-b6bf-9dc77334fec5": [ - "the vehicle two cars behind the ego vehicle", + "stopped vehicles at intersection being crossed by pedestrians", + "pedestrians using designated crossing", + "the vehicle behind another vehicle being crossed by a jaywalking pedestrian", "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters", "vehicle braking near jaywalking pedestrian or stroller", - "pedestrian walking with stroller", "stroller", - "group of people", - "pedestrian near stop sign", + "pedestrian walking alongside stopped bus", "stop sign behind a pedestrian", "vehicle braking at pedestrian crossing", "ego vehicle near pedestrian crossing sign" @@ -986,104 +986,104 @@ "256c185c-284a-343e-93f4-894eed474edd": [ "oncoming vehicle changing lanes", "motorcycle near construction cone", + "ego vehicle in dense traffic with lane-changing vehicles", + "accelerating passenger vehicle", "pedestrian walking with dog on sidewalk", - "two cars back from the ego vehicle", - "ego vehicle following vehicle being overtaken on right", - "vehicle being passed on the left by another vehicle", - "dog", - "vehicle being followed by ego vehicle while being overtaken on right", + "vehicle getting passed from the right", + "vehicle following another vehicle too closely", + "dog near pedestrian", "motorcycle between two vehicles", "box truck at stop sign" ], "57356998-297c-330a-af4e-c6a1ad64f923": [ - "vehicle being followed by ego vehicle while being overtaken on right", + "vehicle facing and heading toward pedestrian group", "vehicle making a right turn", + "vehicle near construction barrel", "the vehicle behind another vehicle being crossed by a jaywalking pedestrian", "multiple pedestrians crossing ahead", - "stationary construction barrel", - "stopped vehicle facing a turning vehicle between 5-20 meters away", - "passenger vehicle turning left at intersection", + "vehicle turning at intersection with nearby pedestrians", + "objects getting closer to the ego vehicle", "ego vehicle near construction barrel", "vehicle turning left while pedestrian crosses at crosswalk", - "a group of people" + "the vehicle two cars in front of the ego vehicle" ], "a3876690-9d49-3c98-9421-02cfe0ccb551": [ "active vehicle at stop sign", "vehicle turning left at intersection while sharing lane with a bus", "vehicle turning right at stop sign", "multiple buses within 50 meters ahead", - "vehicle two vehicles ahead is turning", + "vehicle at a stop sign", "bus making right turn", - "vehicle with multiple pedestrians to the left", + "stopped vehicles at intersection being crossed by pedestrians", "vehicle stopped at a stop sign", "vehicle changing lanes while on an intersection", "pedestrian walking alongside bollard" ], "48a52b7b-9391-3728-84f1-9aa6ca336214": [ - "vehicle facing toward a pedestrian at a crosswalk", - "ego vehicle near construction cone", - "vehicle at intersection facing another vehicle", + "construction item on road", "vehicle with multiple pedestrians to the left", - "vehicle being overtaken on the left", - "pedestrian facing toward ego vehicle", - "vehicle facing toward parked vehicles", + "at least active 2 vehicles within 15 meters behind ego vehicle", + "vehicle stopped at construction barrel", + "vehicle to the back right of the ego vehicle", "pedestrian walking past right side of vehicle", - "dog on roadway", - "vehicle two vehicles ahead is being crossed by a pedestrian" + "pedestrian to the back-right of the ego vehicle", + "stationary construction barrel", + "moving pedestrian within 3 meters to the left of ego vehicle", + "motorcycle near construction cone" ], "b1527e96-5a5d-3adc-a893-314ab3a6012e": [ "dog near an intersection", - "pedestrian walking with dog on sidewalk", "dog near pedestrian", + "dog", "vehicle changing lanes while on an intersection", + "vehicle two vehicles ahead is braking", "ego vehicle near bollard", - "pedestrian walking past right side of vehicle", "pedestrian with multiple dogs", - "vehicle being overtaken on the right", + "any vehicle in front of stop sign", "bus with at least 3 pedestrians within 5 meters", "pedestrian walking alongside stopped bus" ], "21f6ebe1-09c9-3a71-bdd9-58f45fbe9000": [ - "vehicle following another vehicle too closely", "vehicle navigating near multiple bicycles", - "the vehicle two cars in front of the ego vehicle", "two cars back from the ego vehicle", + "vehicle being overtaken on the right", "truck without trailer", "semi truck within 30 meters ahead of ego vehicle", + "ego vehicle with parked bicycles ahead", "truck cab with trailer sharing lane with regular vehicle", "vehicle crossing path of another vehicle", "ego vehicle approaching intersection with a pedestrian crossing in front of multiple trucks", "vehicle with multiple bicycles ahead" ], "595acd37-183c-489f-bb8a-c299a86b74c0": [ - "accelerating passenger vehicle", + "stationary object", "pedestrians over 30 meters away", - "passenger vehicle turning left at intersection", - "vehicle changing lanes", - "pedestrian on intersection not using a crosswalk", - "vehicle changing lanes to the right", + "vehicle facing and heading toward pedestrian group", + "pedestrian walking past right side of vehicle", + "vehicle facing the ego vehicle", + "stop sign behind a pedestrian", "vehicle at intersection facing another vehicle", - "pedestrian near stop sign", + "vehicle turning at intersection with nearby pedestrians", "oncoming vehicle changing lanes", "vehicle changing lanes while on an intersection" ], "539b7a79-54c6-30ef-8e06-210d42c79125": [ - "the vehicle two cars behind the ego vehicle", - "ego vehicle with parked bicycles ahead", - "vehicle within 5 meters of a bicycle", + "bicyclist on intersection", + "parked vehicle", + "bicycle traveling against traffic", + "vehicle at intersection facing another vehicle", "bicycle crossing vehicle path at intersection", - "vehicle following another vehicle too closely", "pedestrian facing toward ego vehicle", - "vehicle accelerating on intersection", - "vehicle to the back right of the ego vehicle", - "vehicle with multiple construction cones on the left side", - "bicyclist changing lanes to the right" + "regular vehicle turning right", + "bicyclist riding in vehicle lane", + "vehicle braking at pedestrian crossing", + "vehicle between two bicycles while on pedestrian crossing" ], "0b9321c1-9bc2-4727-beb8-8046aa4bb6c4": [ - "vehicle being overtaken on the right", "pedestrian facing toward the bus", + "pedestrian between moving vehicles on both sides", "vehicle being crossed by a pedestrian", - "bus within 5 meters to either side of ego vehicle", + "pedestrian facing toward ego vehicle", "vehicle accelerating on intersection", "bus with another bus in its lane", "vehicle accelerating more than two meters per second", @@ -1092,13 +1092,13 @@ "pedestrian crossing between stopped buses" ], "4977e8a8-4e1f-3ca2-a44e-454cd3756a5f": [ - "vehicle making a right turn", - "pedestrian facing toward ego vehicle", - "passenger vehicle turning right", - "ego vehicle with vehicles on both sides", + "regular vehicle turning right", "passenger vehicle turning left at intersection", + "stroller", + "stopped vehicle facing a turning vehicle between 5-20 meters away", "vehicle being tailgated while approaching stopped traffic", "vehicle braking near jaywalking pedestrian or stroller", + "pedestrian walking with stroller", "vehicle two vehicles ahead is turning", "truck sharing a lane with another truck", "vehicle braking at pedestrian crossing" @@ -1122,32 +1122,32 @@ "box truck braking in front of ego vehicle", "any vehicle in front of stop sign", "ego vehicle with parked bicycles ahead", - "vehicle with multiple pedestrians to the left", - "vehicle at a stop sign", + "active vehicle at stop sign", + "vehicle within 5 meters of a bicycle", "bicycle traveling against traffic", "ego vehicle approaching crossing pedestrians" ], "7e3d8631-3b7d-38c1-b833-ee7cfa7235ca": [ - "ego vehicle in dense traffic with lane-changing vehicles", - "car following closely behind bicyclist", - "bicycle traveling with vehicle traffic", - "making a left lane change while there is a vehicle to the right", "vehicle two vehicles ahead is at a stop sign", + "vehicle stopped at a stop sign", + "vehicle within 5 meters of a bicycle", + "bicycle in same lane as a vehicle", "bicycle sharing lane as a regular vehicle", + "vehicle with a bicycle to its right", + "vehicle changing lanes to the right", "ego vehicle with parked bicycles ahead", - "vehicle with multiple pedestrians to the left", "bicycle passing by parked vehicle", "motorcycle between stopped vehicles" ], "790d3c83-f6bf-348e-80e7-12f29240e598": [ - "pedestrian walking with dog on sidewalk", + "construction item on road", + "motorcycle between stopped vehicles", "vehicle moving at crawling speed", - "vehicle at intersection facing another vehicle", "motorcycle or pedestrian within 5 meters to the right", - "stationary construction barrel", - "vehicle getting passed from the right", + "motorcycle between two vehicles", "motorcycle or pedestrian within 5 meters to the right of the ego vehicle", - "vehicle facing the ego vehicle", + "vehicle with multiple pedestrians to the left", + "dog near pedestrian", "vehicle braking at pedestrian crossing", "pedestrian to the left of a truck" ], @@ -1156,7 +1156,7 @@ "vehicle with multiple construction cones on the left side", "moving bicycle directly to the left of the ego vehicle", "bicycle in vehicle lane with vehicle", - "bicyclist riding in vehicle lane", + "car following closely behind bicyclist", "bicycle following closely behind a vehicle", "vehicle maneuvering between construction barriers", "bicycle facing toward moving traffic", @@ -1166,11 +1166,11 @@ "20f785b0-e11a-3757-be79-b0731286c998": [ "bus in the same lane as a truck", "vehicle two cars ahead is braking", - "vehicle near multiple bollards", - "vehicle accelerating aggressively", - "vehicle crossing path of another vehicle", - "at least active 2 vehicles within 15 meters behind ego vehicle", + "ego vehicle with vehicles on both sides", + "pedestrian facing toward the bus", "truck in the same lane as a bus", + "any vehicle in front of stop sign", + "vehicle to the back right of the ego vehicle", "bus within 5 meters to either side of ego vehicle", "pedestrian near construction cone", "pedestrian to the left of a truck" @@ -1180,69 +1180,69 @@ "vehicle near construction barrel", "vehicle maneuvering between construction barriers", "vehicle turning right near construction zone", - "stationary construction barrel", - "construction item on road", "vehicle accelerating while changing lanes", "ego vehicle approaching construction barrels with a vehicle turning right ahead", + "left lane change while there is a vehicle to the left", + "oncoming vehicle changing lanes", "pedestrian walking between trailers", "ego vehicle changing lanes to the left" ], "afbdd2e0-696a-3222-a20a-2023baf8e5af": [ "ego vehicle following vehicle being overtaken on right", - "vehicle being followed by ego vehicle while being overtaken on right", - "vehicle moving at crawling speed", + "object that hasn't moved", "vehicle two vehicles ahead is braking", "vehicle being passed on the left by another vehicle", + "motorcyclist", "vehicles being passed by a motorcycle on either side", - "accelerating passenger vehicle", "vehicle traveling in the same direction as the ego vehicle", + "vehicle traveling in the opposite direction as the ego vehicle", "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters", "vehicle turning left while pedestrian crosses at crosswalk" ], "a2f568b5-060f-33f0-9175-7e2062d86b6c": [ - "vehicle within 5 meters of a bicycle", + "vehicle changing lanes to the right", "vehicle navigating near multiple bicycles", - "vehicle with multiple bicycles ahead", - "vehicle being overtaken on the left", + "object that hasn't moved", "vehicle approaching stopped vehicle at intersection", - "vehicle being overtaken while approaching another vehicle", - "vehicle being followed by ego vehicle while being overtaken on right", + "pedestrian facing toward ego vehicle", + "ego vehicle following vehicle being overtaken on right", "vehicle hard braking with another vehicle ahead", + "vehicle being passed on the left by another vehicle", "stopped vehicle facing a turning vehicle between 5-20 meters away", "ego vehicle merging between two regular vehicles" ], "f150d98f-0109-3380-8480-c6846fb8e9c8": [ - "vehicle being crossed by a pedestrian", - "vehicle two vehicles ahead is braking", "vehicle passing truck with pedestrian crossing ahead", - "vehicle with multiple pedestrians to the left", "accelerating truck", + "turning left", "truck on intersection", + "vehicle hard braking with another vehicle ahead", + "vehicle accelerating more than two meters per second", "pedestrian to the left of a truck", "vehicle two cars ahead is being crossed by a pedestrian", "truck sharing a lane with another truck", "passenger vehicle turning right" ], "4bab74cd-aba9-4752-9e1f-006cc639d63e": [ - "stopped car", - "vehicle following another vehicle too closely", + "vehicle at intersection facing another vehicle", + "stop sign behind a pedestrian", "vehicle approaching pedestrians waiting at a crosswalk", - "parked vehicle", - "vehicle getting passed from the right", "pedestrian near stop sign", - "pedestrian facing toward ego vehicle", - "vehicle near construction barrel", + "passenger vehicle near stroller in road", + "vehicle braking near jaywalking pedestrian or stroller", + "pedestrian walking past right side of vehicle", + "objects getting closer to the ego vehicle", "vehicle two vehicles ahead is at a stop sign", "bicycle traveling against traffic" ], "95312039-73b9-35a2-9aec-905494a4f7f0": [ + "ego vehicle in dense traffic with lane-changing vehicles", + "vehicle near construction barrel", "construction barrel with at least 2 construction cones within 3 meters", "vehicle to the back right of the ego vehicle", "multiple buses within 50 meters ahead", - "bus changing lanes", "vehicle stopped at construction barrel", "vehicle two vehicles ahead is changing lanes", - "vehicle traveling in the opposite direction as the ego vehicle", "vehicle two cars ahead is changing lanes", "vehicle two vehicles ahead is turning", "pedestrian walking alongside bollard" @@ -1250,155 +1250,155 @@ "dc4d148d-f84c-307c-b2b7-f0cd7c267f57": [ "vehicle with multiple pedestrians to the left", "vehicle two cars ahead is being crossed by a pedestrian", + "vehicle behind another vehicle that has a pedestrian on its right side", + "regular vehicles that are stopped or nearly stopped", "vehicle two vehicles ahead is being crossed by a pedestrian", - "multiple pedestrians crossing ahead", + "vehicle traveling in the opposite direction as the ego vehicle", + "ego vehicle approaching crossing pedestrians", "stopped car", - "pedestrian walking alongside bollard", - "vehicle hard braking with another vehicle ahead", - "stationary object", "bus with at least 3 pedestrians within 5 meters", "vehicle approaching stopped vehicle at intersection" ], "334f7360-727f-3689-a5b7-b553322aece5": [ + "pedestrians over 30 meters away", + "pedestrian to the back-right of the ego vehicle", "vehicle accelerating more than two meters per second", - "vehicle directly facing a moving pedestrian from 5-15 meters away", + "pedestrian facing toward ego vehicle", "vehicle accelerating towards pedestrian crossing", - "vehicle crossing path of another vehicle", - "pedestrian near bollard", - "a group of people", - "pedestrian between moving vehicles on both sides", - "pedestrian crossing between bollards", + "two cars back from the ego vehicle", + "pedestrian walking alongside bollard", + "the vehicle two cars in front of the ego vehicle", "vehicle being tailgated while approaching stopped traffic", "ego vehicle approaching crossing pedestrians" ], "81700b3c-2db4-3f72-935c-274d3607d6d2": [ "vehicle two vehicles ahead is being crossed by a pedestrian", - "stopped vehicles at intersection being crossed by pedestrians", "pedestrian in front of a bicyclist who is to the left of a vehicle", - "the vehicle behind another vehicle being crossed by a jaywalking pedestrian", "moving bicycle directly to the left of the ego vehicle", + "dog", + "vehicle two cars ahead is being crossed by a pedestrian", + "group of three people", "vehicle navigating near multiple bicycles", "dog near an intersection", - "bicycle traveling alongside parked vehicles", "pedestrian walking between two stopped vehicles", "vehicle accelerating towards pedestrian crossing" ], "41e31361-569b-3ed8-bafd-2308b7a9377e": [ - "pedestrians facing each other at close range, possibly conversing", - "left lane change while there is a vehicle to the left", + "ego vehicle with vehicles on both sides", "dog", "car turning right", + "bicyclist on intersection", + "ego vehicle two cars ahead of another vehicle", + "moving bus to the front-left of the ego vehicle", "bus within 5 meters to either side of ego vehicle", - "bicycle on intersection", "bicyclist riding in vehicle lane", - "objects getting closer to the ego vehicle", "stopped vehicle facing a turning vehicle between 5-20 meters away", - "active vehicle at stop sign" + "wheeled device (e.g., golf cart, segway) sharing a lane with a moving vehicle" ], "8aeeeeca-6a79-34ef-b667-835d53536a8f": [ + "group of pedestrians ahead of the ego vehicle", "motorcyclist", "vehicles being passed by a motorcycle on either side", "pedestrian crossing at bollard", + "vehicle being followed by ego vehicle while being overtaken on right", "pedestrian walking alongside bollard", - "group of three people", + "group of people", "pedestrian near bollard", - "vehicle being crossed by a pedestrian", - "active vehicle at stop sign", "vehicle two vehicles ahead is braking", "motorcycle or pedestrian within 5 meters to the right" ], "06e5ac08-f4cb-34ae-9406-3496f7cadc62": [ - "truck on intersection", - "vehicle being overtaken on the right", "motorcycle or pedestrian within 5 meters to the right", "ego vehicle with vehicles on both sides", + "vehicle hard braking with another vehicle ahead", "motorcycle or pedestrian within 5 meters to the right of the ego vehicle", + "accelerating vehicle changing lanes to the right", "pedestrian facing toward the bus", - "vehicle crossing path of another vehicle", + "turning left", "motorcyclist", "motorcycle near construction cone", "bus with another bus in its lane" ], "64037371-4aa4-3fed-97f4-bafc1674caee": [ - "pedestrian on intersection not using a crosswalk", - "vehicle facing the ego vehicle", "dog on roadway", + "pedestrians facing each other at close range, possibly conversing", + "vehicle being crossed by a pedestrian", "dog near pedestrian", - "dog", "dog near an intersection", "vehicle stopped at a stop sign", "pedestrian walking with dog on sidewalk", + "vehicle behind another vehicle that has a pedestrian on its right side", "the vehicle two cars in front of the ego vehicle", "vehicle facing and accelerating toward pedestrian on road" ], "ef4a46c4-138e-3478-b94e-3e60a567ec7d": [ "vehicle crossing path of another vehicle", "vehicle being overtaken while approaching another vehicle", - "vehicle at intersection facing another vehicle", + "turning left", "vehicle traveling over 20 meters per second", - "vehicle moving at crawling speed", "vehicle being overtaken on the left", + "the active vehicle in front of the vehicle ahead", "vehicle following another vehicle too closely", - "vehicle facing the ego vehicle", + "vehicle accelerating on intersection", "vehicle being tailgated while approaching stopped traffic", "vehicle being passed on the left by another vehicle" ], "ce0575bf-c2fc-38bd-9947-ea7494a799f9": [ - "two cars back from the ego vehicle", - "vehicle at intersection facing another vehicle", - "pedestrian walking past right side of vehicle", - "ego vehicle with vehicles on both sides", - "regular vehicles that are stopped or nearly stopped", - "at least active 2 vehicles within 15 meters behind ego vehicle", - "the active vehicle in front of the vehicle ahead", + "vehicle facing the ego vehicle", + "vehicle sharing a lane with another vehicle", + "vehicle traveling in the opposite direction as the ego vehicle", + "vehicle following another vehicle too closely", + "vehicle facing toward parked vehicles", + "vehicle facing away from the ego vehicle", + "the vehicle two cars behind the ego vehicle", "vehicle two vehicles ahead is braking", "pedestrian to the back-right of the ego vehicle", "vehicle two vehicles ahead is at a stop sign" ], "3fa8c20e-a4b4-3af6-b9c4-6cb96f83916d": [ "vehicle turning right with pedestrian waiting", - "vehicle accelerating towards pedestrian crossing", "vehicle turning right with pedestrian in front", "car turning right", "vehicle turning at intersection with nearby pedestrians", + "vehicle two vehicles ahead is turning", "ego vehicle following vehicle that is being overtaken on the right", - "stopped vehicle facing a turning vehicle between 5-20 meters away", - "passenger vehicle turning left at intersection", + "passenger vehicle turning right", + "vehicle crossing path of another vehicle", "vehicle braking at pedestrian crossing", "car turning right" ], "c556f8e0-a001-3586-b2cf-d3256685c39f": [ "vehicle changing lanes while on an intersection", - "vehicle facing the ego vehicle", - "vehicle traveling in the opposite direction as the ego vehicle", - "vehicle moving at crawling speed", - "vehicle hard braking with another vehicle ahead", - "ego vehicle following vehicle being overtaken on right", + "parked vehicle", + "the vehicle two cars in front of the ego vehicle", + "vehicle directly facing a moving pedestrian from 5-15 meters away", + "vehicle being overtaken on the right", + "vehicle sharing a lane with another vehicle", "accelerating vehicle changing lanes to the right", - "vehicle facing toward parked vehicles", + "vehicle braking heavily", "pedestrian crossing between stopped buses", "ego vehicle changing lanes near construction zone" ], "53a8391f-b2d7-341f-95ce-b9174d48e040": [ - "object that hasn't moved", + "stopped vehicle facing a turning vehicle between 5-20 meters away", "vehicle facing and heading toward pedestrian group", "pedestrian facing toward ego vehicle", - "car turning right", "vehicle two vehicles ahead is turning", - "vehicle directly facing a moving pedestrian from 5-15 meters away", + "vehicle turning at intersection with nearby pedestrians", "objects getting closer to the ego vehicle", - "vehicle two vehicles ahead is changing lanes", + "pedestrian walking past right side of vehicle", + "vehicle being overtaken on the right", "ego vehicle changing lanes to the left", "vehicle two vehicles ahead is at a stop sign" ], "ea6895f2-504b-37b5-bfd0-cbf7017f22c3": [ "bicycle traveling alongside parked vehicles", "bicycle sharing lane as a regular vehicle", - "group of three people", - "bicycle traveling with vehicle traffic", "bicycle passing by parked vehicle", + "bus making right turn", + "bicycle facing toward a vehicle", "pedestrian facing toward the bus", - "ego vehicle changing lanes to the right with a vehicle ahead", + "bicycle in vehicle lane with vehicle", "bicycle in same lane as a vehicle", "ego vehicle passing parked bus", "pedestrian crossing between bollards" @@ -1407,8 +1407,8 @@ "vehicle braking at pedestrian crossing", "vehicle passing truck with pedestrian crossing ahead", "vehicle braking near pedestrian crossing", + "ego vehicle approaching stopped delivery truck", "pedestrian to the left of a truck", - "vehicle stopped at construction barrel", "bus changing lanes", "vehicle turning right near construction zone", "vehicle turning left at intersection while sharing lane with a bus", @@ -1417,59 +1417,59 @@ ], "ca4144fb-10e5-3895-836f-87001f59ac65": [ "stroller", - "pedestrians using designated crossing", - "pedestrian walking with stroller", - "jaywalking pedestrian", + "vehicle being overtaken on the right", "vehicle being followed by ego vehicle while being overtaken on right", - "the active vehicle in front of the vehicle ahead", + "vehicle at intersection facing another vehicle", "vehicle with multiple construction cones on the left side", - "vehicle navigating near multiple bicycles", + "the vehicle two cars in front of the ego vehicle", + "vehicle two vehicles ahead is braking", + "vehicle braking near jaywalking pedestrian or stroller", "vehicle turning right next to pedestrian with stroller", "bicycle following closely behind a vehicle" ], "ac3e33eb-5a53-369d-9e5a-7950392bfe99": [ + "ego vehicle following vehicle being overtaken on right", "motorcycle or pedestrian within 5 meters to the right", "ego vehicle approaching stopped truck", "vehicle being followed by ego vehicle while being overtaken on right", - "vehicle braking heavily", "vehicle changing lanes while on an intersection", - "vehicle accelerating aggressively", + "vehicle being crossed by a pedestrian", + "vehicle getting passed from the right", "vehicle two cars ahead is being crossed by a pedestrian", - "vehicle accelerating while changing lanes", "vehicle traveling over 20 meters per second", "ego vehicle passing parked motorcycle" ], "a36f80a5-5edc-3842-80af-292ae639ee74": [ "ego vehicle approaching pedestrian at crosswalk", - "group of three people", + "the vehicle behind another vehicle being crossed by a jaywalking pedestrian", "group of pedestrians ahead of the ego vehicle", - "accelerating vehicle changing lanes to the right", - "dog near pedestrian", - "pedestrian walking with dog on sidewalk", - "pedestrian crossing in front of vehicle at crosswalk", - "dog", + "stationary construction barrel", + "vehicle in close proximity to bicycle", + "bicycle following closely behind a vehicle", + "pedestrians using designated crossing", + "vehicle navigating near multiple bicycles", "vehicle braking heavily", "vehicle being overtaken on the left" ], "74f15437-b85e-314a-9d86-7294b98bf07f": [ "motorcyclist braking hard", + "motorcycle or pedestrian within 5 meters to the right", "vehicles being passed by a motorcycle on either side", "vehicle stopped at a stop sign", - "ego vehicle approaching pedestrian at crosswalk", "moving pedestrian within 3 meters to the left of ego vehicle", + "pedestrian on intersection not using a crosswalk", "pedestrian crossing between bollards", "vehicle approaching stopped vehicle at intersection", - "pedestrian walking alongside bollard", "pedestrian on road not facing traffic", "vehicle with multiple construction cones on the left side" ], "133e2e0b-b0fe-3bb0-b1f9-c846fcfd29e8": [ "traffic officer in roadway", - "making a left lane change while there is a vehicle to the right", "vehicle stopped at official signaler", "ego vehicle changing lanes to the left", "ego vehicle passing official signaler", "moving pedestrian within 3 meters to the left of ego vehicle", + "pedestrians over 30 meters away", "box truck braking in front of ego vehicle", "pedestrian to the left of a truck", "ego vehicle near pedestrian crossing sign", @@ -1478,34 +1478,34 @@ "5e9fc665-2353-34da-a2e7-2094ab17e790": [ "vehicle braking near pedestrian crossing", "group of at least 3 moving bicyclists within 5 meters of each other", - "bicycle in vehicle lane with vehicle", "bicycle near a bus", "vehicle braking at pedestrian crossing", "vehicle turning right with pedestrian in front", "moving bus being crossed by a bicycle", + "vehicle moving at crawling speed", "vehicle turning right with pedestrian waiting", "vehicle turning left with a bicycle in front of it", "pedestrian crossing ahead of ego vehicle" ], "db17141d-4d35-381d-9949-36ce767d6641": [ - "motorcycle or pedestrian within 5 meters to the right", "pedestrian near stop sign", - "bicycle on intersection", - "pedestrian in front of a bicyclist who is to the left of a vehicle", + "bicyclist riding in vehicle lane", + "ego vehicle with vehicles on both sides", + "car following closely behind bicyclist", + "bicyclist on intersection", "vehicle turning left with a bicycle in front of it", - "regular vehicles that are stopped or nearly stopped", "bicycle crossing vehicle path at intersection", "moving bicycle directly to the left of the ego vehicle", "bicycle being overtaken", "ego vehicle merging between two regular vehicles" ], "6ff3a51a-e0ab-32be-beb5-4079e56933c6": [ - "pedestrian on intersection not using a crosswalk", - "pedestrian turning and watching the ego vehicle", - "vehicle turning at intersection with nearby pedestrians", + "a group of people", + "passenger vehicle turning left at intersection", "pedestrian walking with dog on sidewalk", - "vehicle two vehicles ahead is turning", + "pedestrian walking with stroller", "car with a stroller to its left", + "dog", "vehicle with multiple bicycles ahead", "vehicle braking near jaywalking pedestrian or stroller", "objects getting closer to the ego vehicle", @@ -1513,58 +1513,58 @@ ], "4058d838-75cb-35e2-af7e-a51aaa833271": [ "vehicle being passed on the left by another vehicle", - "vehicle being tailgated while approaching stopped traffic", - "accelerating passenger vehicle", + "ego vehicle with vehicles on both sides", + "vehicle following another vehicle too closely", "vehicle facing toward parked vehicles", "vehicle at intersection facing another vehicle", "at least active 2 vehicles within 15 meters behind ego vehicle", "vehicle getting passed from the right", - "vehicle accelerating more than two meters per second", + "vehicle crossing path of another vehicle", "motorcycle in bike lane", "motorcycle or pedestrian within 5 meters to the right" ], "3153b5b3-d381-3664-8f82-1d3c5ca841d2": [ - "bicyclist riding in vehicle lane", "bicycle traveling alongside parked vehicles", "bicycle behind a bus", "bus making right turn", + "bicycle in same lane as a vehicle", "moving bicycle directly to the left of the ego vehicle", - "bicycle traveling with vehicle traffic", "bus in bus lane", "bus changing lanes", + "pedestrian near stop sign", "motorcyclist traveling opposite to bicycle traffic", "pedestrian crossing in front of cyclist near intersection" ], "d78b78a0-2322-32c2-833a-e42ddc132d30": [ + "at least active 2 vehicles within 15 meters behind ego vehicle", "ego vehicle near construction barrel", - "vehicle with multiple pedestrians to the left", "accelerating passenger vehicle", - "two cars back from the ego vehicle", - "vehicle two cars ahead is braking", - "ego vehicle with vehicles on both sides", - "construction item on road", - "vehicle stopped at construction barrel", + "stopped car", + "vehicle two vehicles ahead is braking", + "ego vehicle two cars ahead of another vehicle", + "vehicle traveling in the opposite direction as the ego vehicle", + "vehicle facing toward parked vehicles", "moving pedestrian within 3 meters to the left of ego vehicle", "pedestrian approaching a parked vehicle" ], "0c61aea3-3cba-35f3-8971-df42cd5b9b1a": [ - "pedestrians using designated crossing", - "vehicle being overtaken on the right", "vehicle being followed by ego vehicle while being overtaken on right", - "vehicle facing toward a pedestrian at a crosswalk", - "pedestrians over 30 meters away", - "vehicle directly facing a moving pedestrian from 5-15 meters away", - "pedestrians facing each other at close range, possibly conversing", - "ego vehicle with parked bicycles ahead", + "vehicle approaching stopped vehicle at intersection", + "vehicle with multiple pedestrians to the left", + "vehicle accelerating on intersection", + "vehicle being crossed by a pedestrian", + "group of people", + "at least active 2 vehicles within 15 meters behind ego vehicle", + "ego vehicle approaching pedestrian at crosswalk", "bicyclist changing lanes to the right", "bicyclist within 3 meters on either side" ], "022af476-9937-3e70-be52-f65420d52703": [ "motorcyclist braking hard", - "ego vehicle following vehicle being overtaken on right", - "motorcyclist", "oncoming vehicle changing lanes", "motorcycle in bike lane", + "vehicles being passed by a motorcycle on either side", + "accelerating passenger vehicle", "vehicle changing lanes while in bike lane", "at least active 2 vehicles within 15 meters behind ego vehicle", "vehicle changing lanes through bike lane", @@ -1572,11 +1572,11 @@ "regular vehicles that are stopped or nearly stopped" ], "bb25d7d0-9146-46a0-8ff1-ebfc25d63417": [ - "vehicle within 5 meters of a bicycle", "vehicle approaching stopped vehicle at intersection", - "ego vehicle with parked bicycles ahead", - "a group of people", + "vehicle being crossed by a pedestrian", + "stationary object", "group of pedestrians ahead of the ego vehicle", + "object that hasn't moved", "motorcycle or pedestrian within 5 meters to the right", "ego vehicle near construction cone", "pedestrians using designated crossing", @@ -1584,14 +1584,14 @@ "ego vehicle two cars ahead of another vehicle" ], "7a1412d3-5a53-378f-85df-ba58b2408f46": [ - "vehicle getting passed from the right", - "vehicle facing toward parked vehicles", "ego vehicle near construction barrel", "motorcycle in bike lane", - "vehicle facing away from the ego vehicle", + "ego vehicle in dense traffic with lane-changing vehicles", + "accelerating passenger vehicle", + "oncoming vehicle changing lanes", + "vehicle crossing path of another vehicle", "stationary construction barrel", - "vehicle following another vehicle too closely", - "motorcyclist", + "vehicle near construction barrel", "stopped vehicle facing a turning vehicle between 5-20 meters away", "pedestrian to the back-right of the ego vehicle" ], @@ -1601,223 +1601,223 @@ "bicyclist on intersection", "ego vehicle approaching stopped delivery truck", "pedestrian in front of a bicyclist who is to the left of a vehicle", - "parked box trucks", "ego vehicle changing lanes to the left", + "bicycle traveling with vehicle traffic", "motorcyclist traveling opposite to bicycle traffic", "bicycle near traffic cone", "vehicle turning at intersection with nearby pedestrians" ], "e1450d07-faed-3d97-b674-c6f8d2498d80": [ + "group of people", "dog near an intersection", - "pedestrian facing toward ego vehicle", - "pedestrian walking with dog on sidewalk", + "stationary object", + "pedestrians facing each other at close range, possibly conversing", "vehicle turning right at stop sign", - "the active vehicle in front of the vehicle ahead", + "parked vehicle", "pedestrian to the back-right of the ego vehicle", "dog on roadway", - "vehicle within 5 meters of a bicycle", "pedestrian approaching a parked vehicle", "pedestrian in front of a bicyclist who is to the left of a vehicle" ], "4a789b07-7578-36ec-89cd-68b01e0737fb": [ - "the vehicle two cars behind the ego vehicle", - "stopped vehicle facing a turning vehicle between 5-20 meters away", + "vehicle facing and heading toward pedestrian group", + "pedestrian facing toward ego vehicle", + "pedestrian walking alongside stopped bus", "car driving in bus lane", "bus with at least 3 pedestrians within 5 meters", - "bicycle facing toward moving traffic", + "pedestrian on intersection not using a crosswalk", "bus in bus lane", - "bicycle facing toward a vehicle", - "stopped car", + "pedestrian facing toward the bus", "vehicle changing lanes while in bike lane", "vehicle passing stopped truck with pedestrian nearby" ], "87918291-e9ba-3759-be1a-4c874ca40997": [ + "vehicle sharing a lane with another vehicle", "parked vehicle", - "moving bus to the front-left of the ego vehicle", - "vehicle two cars ahead is braking", - "stationary object", + "vehicle making a right turn", + "vehicle facing away from the ego vehicle", "multiple buses within 50 meters ahead", - "bus within 5 meters to either side of ego vehicle", - "object that hasn't moved", - "regular vehicle turning right", + "passenger vehicle turning right", + "stopped vehicle facing a turning vehicle between 5-20 meters away", + "vehicle near multiple bollards", "ego vehicle near bollard", "vehicle being overtaken on the right" ], "a8a3297d-62f3-31ac-8db7-95ef53ce0d31": [ - "vehicle accelerating towards pedestrian crossing", - "passenger vehicle swerving left", - "making a left lane change while there is a vehicle to the right", "motorcyclist braking hard", "vehicle passing truck with pedestrian crossing ahead", + "vehicle being overtaken on the left", + "vehicle being followed by ego vehicle while being overtaken on right", "vehicles being passed by a motorcycle on either side", - "ego vehicle in dense traffic with lane-changing vehicles", + "vehicle being overtaken while approaching another vehicle", "truck without trailer", + "active vehicle at stop sign", "vehicle two cars ahead is being crossed by a pedestrian", "motorcycle or pedestrian within 5 meters to the right of the ego vehicle" ], "3c3ed78e-1fcf-30ec-9e19-9bf142e2621d": [ "railed vehicle", - "pedestrian turning and watching the ego vehicle", - "regular vehicle turning right", + "passenger vehicle turning right", "school bus on intersection", "pedestrian walking with stroller", - "stopped vehicle facing a turning vehicle between 5-20 meters away", - "box trucks within 10 meters of an intersection", + "parked box trucks", + "multiple buses within 50 meters ahead", + "accelerating truck", "stroller", "school bus at pedestrian crossing", "vehicle passing stopped school bus" ], "4d9e3bdf-7216-3161-8281-72863f3c2bf6": [ - "vehicle turning right with pedestrian in front", + "moving bicycle directly to the left of the ego vehicle", "vehicle turning left with a bicycle in front of it", + "bicyclist on intersection", "bicycle crossing vehicle path at intersection", + "vehicle approaching stopped vehicle at intersection", "bicycle traveling against traffic", - "vehicle two vehicles ahead is turning", "truck without trailer", "objects getting closer to the ego vehicle", - "bicycle in same lane as a vehicle", - "box truck changing lanes to the right", - "moving bus to the front-left of the ego vehicle" + "truck cab with trailer sharing lane with regular vehicle", + "vehicle two vehicles ahead is at a stop sign" ], "93c97162-a834-3331-b15c-e4ab278b1c6d": [ - "ego vehicle in dense traffic with lane-changing vehicles", "vehicle two cars ahead is changing lanes", - "passenger vehicle swerving left", "truck sharing a lane with another truck", + "vehicle two vehicles ahead is changing lanes", "motorcycle between stopped vehicles", - "motorcycle between two vehicles", - "vehicle two cars ahead is braking", + "vehicle facing toward parked vehicles", + "vehicle traveling in the same direction as the ego vehicle", + "vehicle approaching stopped vehicle at intersection", "accelerating vehicle changing lanes to the right", "motorcycle near construction cone", "truck in the same lane as a bus" ], "087695bd-c662-3e86-83b4-aedc3b8eec36": [ "turning left", - "stationary construction barrel", "vehicle accelerating on intersection", "vehicle turning right with pedestrian waiting", + "jaywalking pedestrian", + "the active vehicle in front of the vehicle ahead", "moving bus to the front-left of the ego vehicle", "vehicle turning left at intersection while sharing lane with a bus", "vehicle stopped at construction barrel", - "vehicle near construction barrel", "stop sign behind a pedestrian", "vehicle braking at pedestrian crossing" ], "0a132537-3aec-35bb-af13-7faa0811000d": [ + "pedestrians over 30 meters away", "turning left", "jaywalking pedestrian", - "vehicle being crossed by a pedestrian", "pedestrian crossing ahead of ego vehicle", - "ego vehicle with vehicles on both sides", + "pedestrian walking alongside bollard", "ego vehicle approaching crossing pedestrians", "ego vehicle near construction cone", - "vehicle behind another vehicle that has a pedestrian on its right side", + "regular vehicles that are stopped or nearly stopped", "vehicle hard braking with another vehicle ahead", "vehicle being tailgated while approaching stopped traffic" ], "1d43ed4e-e705-308a-bdfa-49d99285c42a": [ + "pedestrian facing toward the bus", "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters", "the vehicle behind another vehicle being crossed by a jaywalking pedestrian", - "ego vehicle approaching pedestrian at crosswalk", - "moving bus to the front-left of the ego vehicle", + "vehicle turning right with pedestrian waiting", "bus with multiple pedestrians waiting on the right side", "vehicle turning left at intersection while sharing lane with a bus", + "pedestrian crossing in front of vehicle at crosswalk", "bus with at least 3 pedestrians within 5 meters", - "pedestrian crossing between bollards", "accelerating vehicle changing lanes to the right", "bus making right turn" ], "05fb81ab-5e46-3f63-a59f-82fc66d5a477": [ "group of three people", "wheeled device (e.g., golf cart, segway) sharing a lane with a moving vehicle", - "dog near an intersection", "bus with multiple pedestrians waiting on the right side", "city bus", "bus making right turn", "pedestrian on road not facing traffic", "vehicle turning left while pedestrian crosses at crosswalk", + "ego vehicle approaching pedestrian at crosswalk", "unattended dog", "vehicle changing lanes to the right" ], "80f31501-6533-3257-9870-b0c4dbf61967": [ + "vehicle directly facing a moving pedestrian from 5-15 meters away", "making a left lane change while there is a vehicle to the right", - "pedestrian facing toward ego vehicle", - "pedestrian near bollard", - "vehicle two vehicles ahead is changing lanes", - "accelerating vehicle changing lanes to the right", - "vehicle two cars ahead is changing lanes", - "jaywalking pedestrian", + "vehicle changing lanes to the right", + "vehicle changing lanes while on an intersection", + "pedestrian crossing between bollards", + "ego vehicle with parked bicycles ahead", "left lane change while there is a vehicle to the left", + "group of people", "pedestrian crossing between stopped buses", "bicycle traveling alongside parked vehicles" ], "9d65b03d-b59d-3a45-ba66-e313d3cdab40": [ - "pedestrian walking with dog on sidewalk", + "vehicle braking near jaywalking pedestrian or stroller", "dog crossing in front of vehicle", "ego vehicle changing lanes to the right with a vehicle ahead", "bus with multiple pedestrians waiting on the right side", - "pedestrian walking with stroller", "dog on roadway", "stroller", "vehicle passing stopped truck with pedestrian nearby", + "dog near an intersection", "vehicle two vehicles ahead is at a stop sign", "any vehicle in front of stop sign" ], "35f32393-e82f-3b20-b214-1f6a43d60f23": [ "bicycle in vehicle lane with vehicle", - "bicycle traveling alongside parked vehicles", + "dog near pedestrian", + "pedestrian in front of a bicyclist who is to the left of a vehicle", + "bicycle passing by parked vehicle", "pedestrian walking with stroller", "motorcyclist braking hard", - "pedestrian turning and watching the ego vehicle", "stroller", "bicycle traveling with vehicle traffic", - "pedestrian walking with dog on sidewalk", "vehicle braking near jaywalking pedestrian or stroller", "multiple motorcycles ahead of the ego vehicle" ], "3f9796e9-c892-3915-b719-3292df878ece": [ - "regular vehicle turning right", - "stopped vehicle facing a turning vehicle between 5-20 meters away", "dog near an intersection", - "vehicle turning right with pedestrian waiting", + "pedestrian between moving vehicles on both sides", + "dog on roadway", + "pedestrian near stop sign", + "pedestrian walking with dog on sidewalk", "vehicle facing and heading toward pedestrian group", "vehicle accelerating towards pedestrian crossing", - "pedestrian turning and watching the ego vehicle", - "vehicle being tailgated while approaching stopped traffic", + "box trucks within 10 meters of an intersection", "ego vehicle with box truck ahead and motorcycle behind", "parked box trucks" ], "ede387f4-f390-3f0e-a071-eb543b73ed73": [ "accelerating truck", "motorcyclist braking hard", - "vehicle two vehicles ahead is changing lanes", + "vehicle two cars ahead is changing lanes", + "oncoming vehicle changing lanes", "ego vehicle following vehicle that is being overtaken on the right", - "truck on intersection", + "vehicles being passed by a motorcycle on either side", "box trucks within 10 meters of an intersection", - "ego vehicle in dense traffic with lane-changing vehicles", "motorcycle near construction cone", "ego vehicle approaching stopped truck", "pedestrian approaching a parked vehicle" ], "cdd752d0-caee-3d95-b1db-7fc20cbbc783": [ - "pedestrian walking past right side of vehicle", - "regular vehicles that are stopped or nearly stopped", - "group of pedestrians ahead of the ego vehicle", - "vehicle at intersection facing another vehicle", - "pedestrian on intersection not using a crosswalk", + "vehicle being crossed by a pedestrian", + "vehicle facing toward a pedestrian at a crosswalk", + "vehicle with a bicycle to its right", + "vehicle following another vehicle too closely", "bus with at least 3 pedestrians within 5 meters", - "the vehicle two cars behind the ego vehicle", + "the vehicle two cars in front of the ego vehicle", + "vehicle within 5 meters of a bicycle", "bus within 5 meters to either side of ego vehicle", "bicycle traveling with vehicle traffic", "pedestrian walking alongside bollard" ], "b48d6d4b-f0dd-35da-850d-36a715691e2f": [ + "vehicle directly facing a moving pedestrian from 5-15 meters away", + "vehicle changing lanes while on an intersection", "parked vehicle", - "vehicle traveling in the opposite direction as the ego vehicle", + "vehicle facing away from the ego vehicle", + "making a left lane change while there is a vehicle to the right", "moving pedestrian within 3 meters to the left of ego vehicle", - "vehicle two vehicles ahead is braking", - "vehicle facing the ego vehicle", - "vehicle braking heavily", "any vehicle in front of stop sign", "vehicle two vehicles ahead is at a stop sign", "ego vehicle near mobile pedestrian sign", @@ -1839,22 +1839,22 @@ "vehicle facing and heading toward pedestrian group", "ego vehicle near construction barrel", "vehicle being tailgated while approaching stopped traffic", + "left lane change while there is a vehicle to the left", "objects getting closer to the ego vehicle", + "vehicle stopped at construction barrel", "vehicle maneuvering between construction barriers", - "vehicle at intersection facing another vehicle", "stopped vehicle facing a turning vehicle between 5-20 meters away", - "vehicle getting passed from the right", "pedestrian to the back-right of the ego vehicle", "the vehicle behind another vehicle being crossed by a jaywalking pedestrian" ], "eb69a196-fb43-3ddf-9bbe-9d55fa1e8200": [ - "pedestrian crossing ahead of ego vehicle", "vehicle two cars ahead is being crossed by a pedestrian", - "vehicle near multiple bollards", - "group of three people", "multiple pedestrians crossing ahead", - "the vehicle behind another vehicle being crossed by a jaywalking pedestrian", + "pedestrian near construction cone", + "pedestrian crossing between bollards", + "vehicle two vehicles ahead is being crossed by a pedestrian", "ego vehicle approaching crossing pedestrians", + "vehicle within 5 meters of a bicycle", "stopped vehicles at intersection being crossed by pedestrians", "ego vehicle changing lanes between truck and bicycle while approaching pedestrian crossing", "truck on intersection" @@ -1862,48 +1862,48 @@ "5d40499f-c9be-38b9-a0cb-cd234850ba85": [ "stationary object", "vehicle sharing a lane with another vehicle", + "vehicle traveling in the same direction as the ego vehicle", "a group of people", "vehicle changing lanes", - "the active vehicle in front of the vehicle ahead", - "vehicle changing lanes to the right", + "pedestrians over 30 meters away", "vehicle with multiple pedestrians to the left", "vehicle being overtaken on the right", "ego vehicle near pedestrian crossing sign", "accelerating wheeled devices" ], "7a17d467-9f29-3706-8e40-32bb7fb033de": [ + "ego vehicle near construction barrel", + "vehicle stopped at construction barrel", "motorcycle between two vehicles", "ego vehicle approaching cyclist in same lane", "motorcycle between stopped vehicles", - "construction item on road", "bicyclist within 3 meters on either side", "pedestrian in front of a bicyclist who is to the left of a vehicle", "bicycle traveling alongside construction indicators", - "bicycle near traffic cone", "vehicle accelerating aggressively", "vehicle approaching stopped vehicle at intersection" ], "106d962b-911d-354d-961d-9abe93119b9c": [ "vehicle turning left while pedestrian crosses at crosswalk", - "bicycle sharing lane as a regular vehicle", "vehicle turning right next to pedestrian with stroller", - "multiple buses within 50 meters ahead", "bus making right turn", "car with a stroller to its left", "vehicle turning while pedestrian crosses with stroller", + "vehicle approaching stopped vehicle at intersection", + "bicycle in same lane as a vehicle", "bus with another bus in its lane", "moving pedestrian within 3 meters to the left of ego vehicle", "ego vehicle changing lanes to the right with a vehicle ahead" ], "6ee14358-31cb-3c6d-82f5-54d6a20444de": [ + "accelerating truck", "active vehicle at stop sign", "vehicle stopped at a stop sign", "vehicle traveling in the opposite direction as the ego vehicle", "vehicle moving at crawling speed", "truck sharing a lane with another truck", - "vehicle getting passed from the right", "vehicle sharing a lane with another vehicle", - "vehicle facing the ego vehicle", + "vehicle traveling in the same direction as the ego vehicle", "vehicle two vehicles ahead is at a stop sign", "passenger vehicle swerving left" ], @@ -1912,56 +1912,56 @@ "vehicle turning at intersection with nearby pedestrians", "vehicle two vehicles ahead is turning", "vehicles being passed by a motorcycle on either side", + "motorcyclist", + "vehicle two vehicles ahead is changing lanes", "vehicle with multiple bicycles ahead", "motorcycle between two vehicles", - "passenger vehicle turning left at intersection", - "vehicle being overtaken on the right", "bicycle traveling with vehicle traffic", "bicycle facing toward moving traffic" ], "3b68c074-1680-3a93-92e5-5b711406f2fe": [ - "pedestrian walking with dog on sidewalk", "dog on roadway", - "vehicle turning right with pedestrian in front", - "vehicle stopped at a stop sign", + "group of pedestrians ahead of the ego vehicle", + "dog near an intersection", + "pedestrian facing toward the bus", "city bus", "vehicle turning right at stop sign", - "regular vehicle turning right", - "pedestrians facing each other at close range, possibly conversing", + "moving bus to the front-left of the ego vehicle", + "car turning right", "ego vehicle near articulated bus", "pedestrian crossing ahead of ego vehicle" ], "44200521-4cad-3a5d-8568-e0f3f1ca24d4": [ - "pedestrian facing toward ego vehicle", - "vehicle traveling in the same direction as the ego vehicle", - "vehicle behind another vehicle that has a pedestrian on its right side", - "vehicle sharing a lane with another vehicle", - "vehicle making a right turn", - "vehicle turning right with pedestrian waiting", - "vehicle near construction barrel", - "vehicle with multiple bicycles ahead", - "pedestrian approaching a parked vehicle", - "ego vehicle in dense traffic with lane-changing vehicles" + "vehicle turning right near construction zone", + "vehicle facing and heading toward pedestrian group", + "passenger vehicle turning left at intersection", + "construction barrel with at least 2 construction cones within 3 meters", + "ego vehicle near construction barrel", + "vehicle approaching pedestrians waiting at a crosswalk", + "construction item on road", + "vehicle approaching and facing a stopped vehicle at an intersection", + "vehicle at a stop sign", + "pedestrian approaching a parked vehicle" ], "3dd173a6-8b21-3189-bd53-132919b96a48": [ "pedestrian on road not facing traffic", - "pedestrians facing each other at close range, possibly conversing", + "ego vehicle near construction barrel", "vehicle near construction barrel", - "group of people", "motorcycle or pedestrian within 5 meters to the right of the ego vehicle", "motorcycle overtaking a vehicle", + "group of pedestrians ahead of the ego vehicle", "vehicle passing truck with pedestrian crossing ahead", - "pedestrian facing toward ego vehicle", + "a group of people", "truck being passed by ego vehicle while nearby pedestrians cross between construction barriers", "vehicle approaching and facing a stopped vehicle at an intersection" ], "768cf7e2-eb6c-3468-969e-e3b0fd87b34e": [ - "vehicle facing away from the ego vehicle", + "vehicle to the back right of the ego vehicle", "car turning right", + "vehicle two vehicles ahead is turning", + "accelerating passenger vehicle", "stopped car", - "stopped vehicle facing a turning vehicle between 5-20 meters away", - "stationary object", - "regular vehicles that are stopped or nearly stopped", + "object that hasn't moved", "passenger vehicle turning left at intersection", "passenger vehicle turning right", "at least active 2 vehicles within 15 meters behind ego vehicle", @@ -1970,312 +1970,312 @@ "d33f667d-7b6c-39aa-9ba9-eac2fa615ae1": [ "bicycle traveling with vehicle traffic", "moving bicycle directly to the left of the ego vehicle", + "bicycle traveling alongside parked vehicles", "ego vehicle approaching cyclist in same lane", - "bicycle passing by parked vehicle", + "pedestrian walking with stroller", "vehicle surrounded by bicycles on all sides", "bicycle traveling against traffic", - "bicycle on intersection", - "bicycle in same lane as a vehicle", + "bicycle sharing lane as a regular vehicle", "vehicle turning right with pedestrian in front", "vehicle turning right next to pedestrian with stroller" ], "ed6ad297-ee09-3532-bcfc-c16ad5a05c49": [ - "vehicle directly facing a moving pedestrian from 5-15 meters away", - "vehicle following another vehicle too closely", "vehicle behind another vehicle that has a pedestrian on its right side", "vehicle facing toward a pedestrian at a crosswalk", - "vehicle accelerating on intersection", - "pedestrian to the back-right of the ego vehicle", "turning left", - "vehicle being crossed by a pedestrian", + "any vehicle in front of stop sign", + "the active vehicle in front of the vehicle ahead", + "active vehicle at stop sign", + "pedestrian walking past right side of vehicle", + "vehicle at intersection facing another vehicle", "vehicle changing lanes while in bike lane", "pedestrian walking alongside bollard" ], "4619e709-c9c0-3b26-923f-23a78e231136": [ - "passenger vehicle turning right", - "motorcycle or pedestrian within 5 meters to the right of the ego vehicle", + "stopped vehicles at intersection being crossed by pedestrians", + "pedestrian near stop sign", "regular vehicle turning right", - "car turning right", + "pedestrian near construction cone", "construction item on road", - "pedestrian facing toward ego vehicle", - "the vehicle two cars behind the ego vehicle", - "objects getting closer to the ego vehicle", - "making a left lane change while there is a vehicle to the right", - "vehicle with a bicycle to its right" + "passenger vehicle turning left at intersection", + "pedestrian walking with stroller", + "vehicle turning at intersection with nearby pedestrians", + "stationary construction barrel", + "vehicle at a stop sign" ], "df738339-958b-31fb-8e48-a4380f4c538a": [ - "bicycle traveling alongside parked vehicles", "bicycle facing toward moving traffic", "vehicle navigating near multiple bicycles", "stroller", "pedestrians, strollers, or wheeled devices at a pedestrian crossing", "wheeled device (e.g., golf cart, segway) sharing a lane with a moving vehicle", - "the vehicle two cars behind the ego vehicle", + "motorcycle or pedestrian within 5 meters to the right of the ego vehicle", + "pedestrian walking with stroller", "vehicle turning left with a bicycle in front of it", "ego vehicle changing lanes to the right with a vehicle ahead", "accelerating wheeled devices" ], "3c58172c-7a07-3ad4-bdf6-7cae60928c56": [ - "vehicle with multiple pedestrians to the left", + "vehicle making a right turn", "pedestrian crossing ahead of ego vehicle", "multiple pedestrians crossing ahead", "vehicle approaching stopped vehicle at intersection", "vehicle turning at intersection with nearby pedestrians", + "vehicle two vehicles ahead is turning", "car turning right", - "stopped vehicles at intersection being crossed by pedestrians", - "vehicle accelerating towards pedestrian crossing", + "ego vehicle approaching crossing pedestrians", "pedestrian turning and watching the ego vehicle", "vehicle in close proximity to bicycle" ], "8911207d-fc3d-3009-bb35-18138197724f": [ - "vehicle being passed on the left by another vehicle", "motorcyclist braking hard", "vehicle stopped at a stop sign", + "vehicle facing toward a pedestrian at a crosswalk", + "vehicle being crossed by a pedestrian", "vehicle turning right at stop sign", "active vehicle at stop sign", - "vehicle near multiple bollards", - "pedestrian walking alongside bollard", "pedestrians using designated crossing", + "vehicle directly facing a moving pedestrian from 5-15 meters away", "ego vehicle merging between two regular vehicles", "vehicle being tailgated while approaching stopped traffic" ], "e1e9d341-716f-3613-9ec2-2201c72361af": [ - "vehicle accelerating while changing lanes", "group of three people", - "oncoming vehicle changing lanes", - "parked vehicle", - "the vehicle two cars behind the ego vehicle", + "parked box trucks", + "accelerating passenger vehicle", "at least active 2 vehicles within 15 meters behind ego vehicle", "vehicle hard braking with another vehicle ahead", - "pedestrian walking past right side of vehicle", + "ego vehicle near construction cone", + "motorcyclist", + "group of pedestrians ahead of the ego vehicle", "lane splitting motorcycle", "vehicle turning right with pedestrian in front" ], "c2f301b6-5d19-3296-a8ac-418ff48e052b": [ - "vehicle sharing a lane with another vehicle", + "vehicle being overtaken on the left", + "vehicle braking heavily", "making a left lane change while there is a vehicle to the right", - "vehicle directly facing a moving pedestrian from 5-15 meters away", "bus changing lanes", + "vehicle crossing path of another vehicle", "vehicle changing lanes to the right", "ego vehicle in dense traffic with lane-changing vehicles", - "vehicle two cars ahead is braking", "vehicle being overtaken on the right", "pedestrians facing each other at close range, possibly conversing", "pedestrian on road not facing traffic" ], "349c4c1c-9561-360f-9ae7-59772335d54b": [ - "vehicle being overtaken while approaching another vehicle", - "group of three people", - "pedestrian between moving vehicles on both sides", - "pedestrian facing toward the bus", - "vehicle crossing path of another vehicle", + "pedestrian turning and watching the ego vehicle", + "pedestrians facing each other at close range, possibly conversing", + "the vehicle behind another vehicle being crossed by a jaywalking pedestrian", + "pedestrians over 30 meters away", "stationary construction barrel", - "bus within 5 meters to either side of ego vehicle", + "vehicle being crossed by a pedestrian", "car driving in bus lane", + "pedestrian walking past right side of vehicle", "ego vehicle near construction barrel", "moving pedestrian within 3 meters to the left of ego vehicle" ], "f7cf93d8-f7bd-3799-8500-fbe842a96f63": [ - "vehicle moving at crawling speed", - "pedestrian near bollard", + "stopped car", + "vehicle behind another vehicle that has a pedestrian on its right side", "bus within 5 meters to either side of ego vehicle", "turning left", "moving bus to the front-left of the ego vehicle", - "vehicle sharing a lane with another vehicle", - "vehicle near multiple bollards", + "two cars back from the ego vehicle", + "pedestrians over 30 meters away", "ego vehicle near bollard", "vehicle turning right at stop sign", "vehicle crossing path of another vehicle" ], "abd4fe8d-7520-3b35-b8ac-4de367141b6f": [ - "pedestrian between moving vehicles on both sides", - "vehicle being overtaken on the left", + "passenger vehicle swerving left", "motorcyclist", "vehicle with a bicycle to its right", "vehicle stopped at a stop sign", "box trucks within 10 meters of an intersection", + "vehicle facing toward a pedestrian at a crosswalk", "vehicle in close proximity to bicycle", - "vehicle at a stop sign", + "active vehicle at stop sign", "left lane change while there is a vehicle to the left", "ego vehicle near pedestrian crossing sign" ], "937093d8-7966-3df3-b334-0835595412b6": [ + "passenger vehicle turning right", "pedestrian near stop sign", + "accelerating vehicle changing lanes to the right", + "regular vehicle turning right", "vehicle near multiple bollards", - "vehicle changing lanes while on an intersection", - "vehicle accelerating aggressively", "ego vehicle near construction cone", "vehicle with multiple construction cones on the left side", - "ego vehicle following vehicle being overtaken on right", "vehicle making a right turn", "ego vehicle approaching crossing pedestrians", "pedestrian approaching a parked vehicle" ], "53f5011b-2a8f-3a73-9d86-805462bb542d": [ - "pedestrians facing each other at close range, possibly conversing", + "stopped vehicles at intersection being crossed by pedestrians", "vehicle being followed by ego vehicle while being overtaken on right", + "pedestrian crossing between bollards", + "pedestrian on intersection not using a crosswalk", "vehicle approaching stopped vehicle at intersection", - "bus with at least 3 pedestrians within 5 meters", - "ego vehicle approaching crossing pedestrians", - "the vehicle two cars in front of the ego vehicle", - "multiple pedestrians crossing ahead", - "vehicle at intersection facing another vehicle", + "objects getting closer to the ego vehicle", + "stopped vehicle facing a turning vehicle between 5-20 meters away", + "vehicle turning right with pedestrian in front", "vehicle two vehicles ahead is being crossed by a pedestrian", "vehicle making a right turn" ], "eec8ae97-8de4-354a-b11a-d3a14b276479": [ - "ego vehicle near construction cone", "vehicle maneuvering between construction barriers", - "ego vehicle near construction barrel", + "vehicle near construction barrel", + "the active vehicle in front of the vehicle ahead", "vehicle stopped at construction barrel", "construction item on road", "construction barrel with at least 2 construction cones within 3 meters", "stop sign behind a pedestrian", - "vehicle with multiple pedestrians to the left", + "turning left", "vehicle two vehicles ahead is at a stop sign", "the vehicle two cars in front of the ego vehicle" ], "31f062b7-dd17-3e7e-945d-198e91597de9": [ - "two cars back from the ego vehicle", + "ego vehicle with vehicles on both sides", + "pedestrian facing toward ego vehicle", "group of three people", - "pedestrians facing each other at close range, possibly conversing", + "the active vehicle in front of the vehicle ahead", + "vehicle navigating near multiple bicycles", + "pedestrian walking past right side of vehicle", "group of pedestrians ahead of the ego vehicle", - "motorcycle or pedestrian within 5 meters to the right", "pedestrians over 30 meters away", - "pedestrian to the back-right of the ego vehicle", - "vehicle in close proximity to bicycle", "moving wheelchair within 5 meters of an intersection", "vehicle following another vehicle too closely" ], "d26b95e4-d200-34e2-92c9-c16fda4cd9dd": [ + "vehicle two vehicles ahead is braking", + "regular vehicles that are stopped or nearly stopped", "vehicle being overtaken on the left", + "vehicle following another vehicle too closely", "vehicle braking heavily", - "vehicle at intersection facing another vehicle", - "vehicle accelerating towards pedestrian crossing", - "vehicle approaching stopped vehicle at intersection", - "stopped car", - "vehicle accelerating on intersection", - "vehicle behind another vehicle that has a pedestrian on its right side", + "vehicle to the back right of the ego vehicle", + "vehicle hard braking with another vehicle ahead", + "vehicle being passed on the left by another vehicle", "vehicle two vehicles ahead is being crossed by a pedestrian", "ego vehicle near bollard" ], "b7fbc13b-47ff-3e3f-a363-86d60ba664b8": [ + "accelerating vehicle changing lanes to the right", "group of people", + "a group of people", + "vehicle approaching stopped vehicle at intersection", "pedestrian near construction cone", "vehicle changing lanes to the right", "vehicle being passed on the left by another vehicle", - "vehicle being overtaken while approaching another vehicle", - "vehicle facing toward a pedestrian at a crosswalk", - "vehicle changing lanes while on an intersection", - "vehicle changing lanes", + "vehicle two vehicles ahead is changing lanes", "motorcycle between stopped vehicles", "vehicle with multiple pedestrians to the left" ], "9efe1171-6faf-3427-8451-8f6469f7678e": [ "bus with at least 3 pedestrians within 5 meters", - "group of three people", "city bus", "pedestrian between moving vehicles on both sides", "pedestrian turning and watching the ego vehicle", "group of pedestrians ahead of the ego vehicle", + "vehicle in close proximity to bicycle", + "pedestrian near construction cone", "vehicle turning left at intersection while sharing lane with a bus", - "pedestrian to the back-right of the ego vehicle", "box truck changing lanes to the left", "bicycle crossing vehicle path at intersection" ], "e4279e3e-b7e1-3f43-aeef-2bfa2836dab6": [ - "vehicle turning left at intersection while sharing lane with a bus", - "pedestrian walking alongside bollard", - "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters", - "vehicle two cars ahead is braking", "bus making right turn", "car driving in bus lane", - "pedestrian near construction cone", + "bus changing lanes", + "oncoming vehicle changing lanes", + "pedestrian facing toward the bus", + "making a left lane change while there is a vehicle to the right", + "pedestrian near bollard", "bus in bus lane", "ego vehicle near pedestrian crossing sign", "multiple pedestrians crossing ahead" ], "8f317f00-f8b4-325e-a5c7-e4045427a610": [ "bicyclist changing lanes to the right", + "motorcyclist", "pedestrian on road not facing traffic", "vehicle passing near person in wheelchair", - "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters", - "vehicle two vehicles ahead is being crossed by a pedestrian", - "stopped vehicles at intersection being crossed by pedestrians", + "pedestrians facing each other at close range, possibly conversing", "the vehicle behind another vehicle being crossed by a jaywalking pedestrian", + "pedestrian crossing in front of vehicle at crosswalk", "motorcyclist traveling opposite to bicycle traffic", "vehicle approaching multiple pedestrians at crosswalk", "motorcycle changing lanes to the left near multiple vehicles" ], "490f13c4-4c1f-3e3b-8a9f-0f27c6906b4e": [ + "pedestrian facing toward the bus", "vehicle approaching pedestrians waiting at a crosswalk", - "passenger vehicle turning left at intersection", "pedestrian walking with dog on sidewalk", - "vehicle with multiple pedestrians to the left", "pedestrians over 30 meters away", - "pedestrian walking past right side of vehicle", - "vehicle traveling in the same direction as the ego vehicle", + "pedestrian to the back-right of the ego vehicle", "vehicle facing and heading toward pedestrian group", + "pedestrian near construction cone", + "regular vehicle turning right", "pedestrian crossing ahead of ego vehicle", - "ego vehicle approaching stopped truck" + "dog running in the road" ], "ba737c78-2ef2-3643-a5b2-4804dfff9d93": [ "semi truck within 30 meters ahead of ego vehicle", - "bicycle traveling with vehicle traffic", + "car following closely behind bicyclist", "truck without trailer", + "group of pedestrians ahead of the ego vehicle", "pedestrian in front of a bicyclist who is to the left of a vehicle", - "bicycle traveling alongside parked vehicles", "moving bicycle directly to the left of the ego vehicle", - "bicyclist on intersection", + "parked box trucks", "truck cab with trailer sharing lane with regular vehicle", "ego vehicle merging between two regular vehicles", "bicycle crossing vehicle path at intersection" ], "555a7659-ffce-39df-ba06-d9fcb2f812f0": [ "pedestrian facing toward ego vehicle", - "vehicle turning right with pedestrian in front", + "vehicle making a right turn", + "vehicle at intersection facing another vehicle", "regular vehicle turning right", - "a group of people", - "vehicle facing toward parked vehicles", - "the vehicle two cars in front of the ego vehicle", + "stopped vehicle facing a turning vehicle between 5-20 meters away", + "motorcycle in bike lane", "stopped car", - "vehicle two cars ahead is being crossed by a pedestrian", + "passenger vehicle turning right", "motorcycle passing between parked vehicles", - "vehicle accelerating while changing lanes" + "motorcycle or pedestrian within 5 meters to the right" ], "982bcae9-1840-37f4-9278-3dbb63031aac": [ "motorcycle between two vehicles", + "the vehicle two cars behind the ego vehicle", "vehicle approaching stopped vehicle at intersection", + "motorcyclist", "ego vehicle following vehicle that is being overtaken on the right", - "accelerating vehicle changing lanes to the right", - "vehicle changing lanes while on an intersection", - "object that hasn't moved", - "vehicle changing lanes", + "vehicle being overtaken on the left", + "vehicle changing lanes to the right", "ego vehicle in dense traffic with lane-changing vehicles", "vehicle two vehicles ahead is being crossed by a pedestrian", "multiple pedestrians crossing ahead" ], "812a45e8-b5d9-389b-9151-09c57ce969df": [ + "group of people", "vehicle being overtaken on the right", - "vehicle accelerating aggressively", - "jaywalking pedestrian", "vehicle passing truck with pedestrian crossing ahead", - "the vehicle behind another vehicle being crossed by a jaywalking pedestrian", + "pedestrian between moving vehicles on both sides", "vehicles being passed by a motorcycle on either side", "vehicle navigating near multiple bicycles", "vehicle two vehicles ahead is changing lanes", + "motorcyclist", "vehicle changing lanes through bike lane", "pedestrian on road not facing traffic" ], "fd5c6932-2ee2-3cfb-9bdc-0b30bfb33a91": [ - "vehicle two vehicles ahead is braking", - "bus making right turn", + "vehicle being passed on the left by another vehicle", + "oncoming vehicle changing lanes", + "two cars back from the ego vehicle", + "vehicle changing lanes to the right", "vehicle braking heavily", - "vehicle to the back right of the ego vehicle", - "vehicle hard braking with another vehicle ahead", - "ego vehicle two cars ahead of another vehicle", + "vehicle changing lanes", "ego vehicle in dense traffic with lane-changing vehicles", - "moving bus to the front-left of the ego vehicle", + "vehicle changing lanes while on an intersection", "pedestrian crossing between stopped buses", "pedestrian near bollard" ], @@ -2284,10 +2284,10 @@ "bicyclist changing lanes to the right", "pedestrian crossing in front of cyclist near intersection", "vehicle approaching pedestrians waiting at a crosswalk", - "objects getting closer to the ego vehicle", "vehicle turning left with a bicycle in front of it", - "pedestrian walking alongside stopped bus", - "passenger vehicle turning right", + "vehicle with multiple construction cones on the left side", + "ego vehicle changing lanes to the right with a vehicle ahead", + "bicycle traveling against traffic", "bus changing lanes", "group of at least 3 moving bicyclists within 5 meters of each other" ], @@ -2295,46 +2295,46 @@ "ego vehicle near articulated bus", "regular vehicle turning right", "vehicle approaching and facing a stopped vehicle at an intersection", + "pedestrian near construction cone", "group of pedestrians ahead of the ego vehicle", - "box trucks within 10 meters of an intersection", + "group of three people", "pedestrian walking alongside stopped bus", - "vehicle turning right with pedestrian in front", - "pedestrian facing toward the bus", + "group of people", "vehicle turning left while pedestrian crosses at crosswalk", "vehicle making a right turn" ], "d58d55ea-f30c-3622-8303-1574616b9865": [ "bicyclist on intersection", - "bicycle in vehicle lane with vehicle", "bicycle traveling against traffic", + "bicycle traveling alongside parked vehicles", "wheeled device (e.g., golf cart, segway) sharing a lane with a moving vehicle", "truck cab with trailer sharing lane with regular vehicle", + "bicycle on intersection", "bicycle traveling with vehicle traffic", "bicycle passing by parked vehicle", - "truck without trailer", "vehicle facing toward a pedestrian at a crosswalk", "vehicle being followed by ego vehicle while being overtaken on right" ], "087fec73-1a0c-399a-9292-cc2cf99dc97f": [ - "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters", - "pedestrian on intersection not using a crosswalk", + "ego vehicle near construction cone", "vehicle with multiple construction cones on the left side", - "vehicle being crossed by a pedestrian", - "vehicle accelerating while changing lanes", + "motorcycle or pedestrian within 5 meters to the right of the ego vehicle", "the vehicle behind another vehicle being crossed by a jaywalking pedestrian", - "vehicle two cars ahead is braking", "oncoming vehicle changing lanes", + "motorcycle or pedestrian within 5 meters to the right", + "making a left lane change while there is a vehicle to the right", + "jaywalking pedestrian", "vehicle at a stop sign", "vehicle changing lanes through bike lane" ], "3d7743c1-c0a5-3ab2-976e-84af93270f30": [ "vehicle stopped at a stop sign", - "vehicle turning right with pedestrian in front", "box truck at stop sign", - "regular vehicle turning right", + "box trucks within 10 meters of an intersection", + "ego vehicle near bollard", "vehicle two vehicles ahead is at a stop sign", "pedestrian crossing at bollard", - "the vehicle behind another vehicle being crossed by a jaywalking pedestrian", + "car turning right", "vehicle turning right at stop sign", "vehicle being tailgated while approaching stopped traffic", "pedestrians using designated crossing" @@ -2344,22 +2344,22 @@ "multiple buses within 50 meters ahead", "semi truck within 30 meters ahead of ego vehicle", "bus changing lanes", - "vehicle stopped at construction barrel", "truck without trailer", - "vehicle two vehicles ahead is changing lanes", + "vehicle approaching stopped vehicle at intersection", + "ego vehicle near construction barrel", "truck changing lanes to the right", "vehicle turning right at stop sign", "box truck changing lanes ahead" ], "d3efe9ba-f10a-35e7-b17e-6850c66693fe": [ + "vehicle facing away from the ego vehicle", "vehicle following another vehicle too closely", "regular vehicles that are stopped or nearly stopped", - "vehicle braking heavily", - "vehicle being crossed by a pedestrian", "vehicle behind another vehicle that has a pedestrian on its right side", + "vehicle facing the ego vehicle", + "vehicle moving at crawling speed", + "vehicle traveling in the same direction as the ego vehicle", "any vehicle in front of stop sign", - "accelerating passenger vehicle", - "vehicle crossing path of another vehicle", "vehicle changing lanes while in bike lane", "vehicle turning right with pedestrian waiting" ], @@ -2376,14 +2376,14 @@ "pedestrian walking alongside stopped bus" ], "b9fcb487-363e-30a7-a316-a42dd81d8fe5": [ - "motorcycle or pedestrian within 5 meters to the right", - "motorcycle between stopped vehicles", + "stop sign behind a pedestrian", + "vehicle at a stop sign", "vehicle two vehicles ahead is being crossed by a pedestrian", + "motorcycle or pedestrian within 5 meters to the right of the ego vehicle", "pedestrian near stop sign", - "vehicle two cars ahead is being crossed by a pedestrian", - "a group of people", + "object that hasn't moved", "stationary construction barrel", - "pedestrians using designated crossing", + "pedestrian walking past right side of vehicle", "lane splitting motorcycle", "wheeled device (e.g., golf cart, segway) sharing a lane with a moving vehicle" ], @@ -2391,35 +2391,35 @@ "active vehicle at stop sign", "vehicle at intersection facing another vehicle", "accelerating truck", - "regular vehicles that are stopped or nearly stopped", + "ego vehicle two cars ahead of another vehicle", "vehicle two vehicles ahead is braking", "vehicle accelerating while changing lanes", - "object that hasn't moved", - "vehicle being overtaken on the right", + "vehicle at a stop sign", + "vehicle facing away from the ego vehicle", "passenger vehicle turning left at intersection", "ego vehicle changing lanes to the right with a vehicle ahead" ], "23808d42-e4df-3a0d-b713-fe20e09a4f39": [ "bicyclist within 3 meters on either side", "vehicle passing truck with pedestrian crossing ahead", - "bicycle following closely behind a vehicle", - "bicyclist on intersection", - "bicycle sharing lane as a regular vehicle", + "truck on intersection", + "bicyclist riding in vehicle lane", "bicycle traveling against traffic", "bicycle traveling with vehicle traffic", "bicycle in vehicle lane with vehicle", + "bicycle on intersection", "accelerating wheeled devices", "pedestrian turning and watching the ego vehicle" ], "3c27dfaf-1624-39d2-9075-158824ed8e8c": [ "vehicle accelerating while changing lanes", - "truck on intersection", + "vehicle accelerating aggressively", + "box trucks within 10 meters of an intersection", + "car turning right", "regular vehicle turning right", "accelerating truck", "vehicle accelerating towards pedestrian crossing", - "left lane change while there is a vehicle to the left", "passenger vehicle turning left at intersection", - "stopped vehicle facing a turning vehicle between 5-20 meters away", "stop sign behind a pedestrian", "ego vehicle approaching intersection with a pedestrian crossing in front of multiple trucks" ], @@ -2429,7 +2429,7 @@ "bicycle traveling against traffic", "vehicle changing lanes through bike lane", "lane splitting motorcycle", - "multiple pedestrians crossing ahead", + "pedestrian crossing ahead of ego vehicle", "motorcyclist braking hard", "bicycle and vehicle traveling in bike lane", "vehicle braking at pedestrian crossing", @@ -2438,48 +2438,48 @@ "8de6abb6-6589-3da7-8e21-6ecc80004a36": [ "active vehicle at stop sign", "vehicle turning right at stop sign", - "pedestrian turning and watching the ego vehicle", "bus in bus lane", "bicycle passing by parked vehicle", - "a group of people", "bicycle near traffic cone", + "vehicle two vehicles ahead is turning", "car driving in bus lane", + "bicycle facing toward a vehicle", "bicycle traveling against traffic", "moving pedestrian within 3 meters to the left of ego vehicle" ], "4487b659-692e-3b35-9d1e-a230279ed646": [ + "vehicle sharing a lane with another vehicle", "vehicle following another vehicle too closely", "a group of people", - "vehicle being passed on the left by another vehicle", - "objects getting closer to the ego vehicle", - "vehicle being overtaken on the left", - "two cars back from the ego vehicle", + "vehicle changing lanes through bike lane", + "pedestrian turning and watching the ego vehicle", + "vehicle changing lanes while in bike lane", "vehicle two vehicles ahead is changing lanes", - "ego vehicle in dense traffic with lane-changing vehicles", - "passenger vehicle swerving left", - "ego vehicle changing lanes to the left" + "vehicle two cars ahead is changing lanes", + "vehicle hard braking with another vehicle ahead", + "vehicle two vehicles ahead is being crossed by a pedestrian" ], "890cf3b7-3385-390c-8b2e-132c744b5d2d": [ - "active vehicle at stop sign", - "ego vehicle near bollard", + "vehicle in close proximity to bicycle", "vehicle with multiple construction cones on the left side", "pedestrian walking alongside bollard", - "pedestrians facing each other at close range, possibly conversing", "vehicle being crossed by a pedestrian", + "vehicle with a bicycle to its right", "stationary object", - "a group of people", + "ego vehicle with parked bicycles ahead", + "pedestrian on intersection not using a crosswalk", "motorcycle or pedestrian within 5 meters to the right of the ego vehicle", "objects getting closer to the ego vehicle" ], "45433055-2b69-3cff-8135-67b3bfa04034": [ "vehicle facing and heading toward pedestrian group", - "pedestrian walking past right side of vehicle", - "objects getting closer to the ego vehicle", - "vehicle two vehicles ahead is being crossed by a pedestrian", - "vehicle two vehicles ahead is turning", - "vehicle turning at intersection with nearby pedestrians", + "car turning right", + "pedestrian facing toward the bus", + "passenger vehicle turning right", + "passenger vehicle turning left at intersection", + "jaywalking pedestrian", + "stop sign behind a pedestrian", "regular vehicle turning right", - "vehicle two cars ahead is being crossed by a pedestrian", "ego vehicle near construction cone", "pedestrians facing each other at close range, possibly conversing" ], @@ -2487,31 +2487,31 @@ "ego vehicle approaching stopped delivery truck", "car following closely behind bicyclist", "motorcycle between stopped vehicles", - "motorcycle or pedestrian within 5 meters to the right", - "vehicle near construction barrel", - "bicycle facing toward moving traffic", + "vehicles being passed by a motorcycle on either side", + "pedestrian near bollard", + "motorcycle between two vehicles", "pedestrian to the left of a truck", "vehicle turning right near construction zone", "vehicle two vehicles ahead is at a stop sign", "multiple motorcycles ahead of the ego vehicle" ], "4e391f98-31a6-330d-9252-d02aab82f5db": [ + "stopped vehicle facing a turning vehicle between 5-20 meters away", "vehicle facing and heading toward pedestrian group", "objects getting closer to the ego vehicle", - "vehicle turning at intersection with nearby pedestrians", - "vehicle facing toward parked vehicles", - "vehicle turning right with pedestrian in front", - "car turning right", + "pedestrian walking past right side of vehicle", "vehicle making a right turn", - "group of three people", + "vehicle being tailgated while approaching stopped traffic", + "stopped vehicles at intersection being crossed by pedestrians", + "regular vehicle turning right", "vehicle two vehicles ahead is at a stop sign", - "vehicle hard braking with another vehicle ahead" + "box truck braking in front of ego vehicle" ], "14c8d182-9586-3f21-ad20-c4e19ec03e2c": [ "vehicle braking near pedestrian crossing", - "vehicle accelerating while changing lanes", "vehicle stopped at construction barrel", "vehicle navigating near multiple bicycles", + "vehicle being overtaken while approaching another vehicle", "vehicle near construction barrel", "vehicle braking at pedestrian crossing", "ego vehicle changing lanes to the left", @@ -2520,26 +2520,26 @@ "vehicle two vehicles ahead is being crossed by a pedestrian" ], "f3f8f680-e471-3662-a06a-0c00e6d88f43": [ - "stopped vehicles at intersection being crossed by pedestrians", - "moving bus to the front-left of the ego vehicle", + "vehicle being overtaken on the right", + "vehicle accelerating more than two meters per second", "pedestrian crossing in front of vehicle at crosswalk", "pedestrian crossing between bollards", + "vehicle being passed on the left by another vehicle", "bus making right turn", "pedestrian crossing at bollard", - "pedestrian crossing ahead of ego vehicle", - "pedestrian facing toward the bus", + "ego vehicle near bollard", "ego vehicle merging between two regular vehicles", "pedestrian walking between two stopped vehicles" ], "a7bcdabb-f9b7-3c16-806d-3ddf1c2d49a2": [ - "vehicle changing lanes to the right", - "vehicle with multiple bicycles ahead", - "vehicle accelerating towards pedestrian crossing", + "accelerating vehicle changing lanes to the right", + "bicycle facing toward a vehicle", "bicycle facing toward moving traffic", - "motorcyclist", + "vehicle navigating near multiple bicycles", + "vehicle being overtaken on the left", "bicycle following closely behind a vehicle", + "vehicle in close proximity to bicycle", "vehicles being passed by a motorcycle on either side", - "vehicle approaching stopped vehicle at intersection", "ego vehicle changing lanes near bicycle while approaching stop sign", "car turning right" ], @@ -2556,32 +2556,32 @@ "box truck changing lanes ahead" ], "41d69427-364c-366e-94a5-8e556bcac39f": [ + "vehicle crossing path of another vehicle", + "vehicle changing lanes", "vehicle two cars ahead is being crossed by a pedestrian", - "regular vehicle turning right", "vehicle turning right with pedestrian in front", "pedestrian turning and watching the ego vehicle", "vehicle making a right turn", - "vehicle with a bicycle to its right", + "jaywalking pedestrian", "passenger vehicle turning right", - "pedestrian walking past right side of vehicle", "dog near an intersection", "ego vehicle merging between two regular vehicles" ], "0ab21841-0c08-3bae-8424-daa9b336683f": [ - "pedestrian crossing ahead of ego vehicle", "ego vehicle approaching crossing pedestrians", "bicycle on intersection", "vehicle two vehicles ahead is being crossed by a pedestrian", "stroller in the same lane as a regular vehicle", - "bicycle facing toward moving traffic", - "vehicle two cars ahead is being crossed by a pedestrian", + "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters", + "the vehicle behind another vehicle being crossed by a jaywalking pedestrian", + "pedestrian walking with stroller", "passenger vehicle near stroller in road", "active vehicle at stop sign", "ego vehicle following bicycle closely" ], "c453a8e7-d3da-317a-946b-f8e9678a8582": [ + "bicycle in same lane as a vehicle", "pedestrians, strollers, or wheeled devices at a pedestrian crossing", - "ego vehicle approaching crossing pedestrians", "pedestrian crossing at bollard", "dog on roadway", "bicycle near traffic cone", @@ -2592,9 +2592,9 @@ "moving bus being crossed by a bicycle" ], "0b1b993a-68b3-3232-9afa-fc9942b5b79b": [ + "dog", "semi truck within 30 meters ahead of ego vehicle", "vehicle traveling over 20 meters per second", - "dog near pedestrian", "dog near an intersection", "ego vehicle with box truck ahead and motorcycle behind", "box trucks within 10 meters of an intersection", @@ -2610,19 +2610,19 @@ "motorcyclist braking hard", "motorcycle at stop sign", "vehicle surrounded by bicycles on all sides", - "motorcycle between two vehicles", - "pedestrian in front of a bicyclist who is to the left of a vehicle", + "ego vehicle approaching cyclist in same lane", + "bicycle passing by parked vehicle", "two cars back from the ego vehicle", "pedestrian turning and watching the ego vehicle" ], "27fba275-0b37-3033-b20d-8f9848f78b1c": [ "moving bus to the front-left of the ego vehicle", - "regular vehicles that are stopped or nearly stopped", - "two cars back from the ego vehicle", - "any vehicle in front of stop sign", + "vehicle at a stop sign", + "passenger vehicle swerving left", + "at least active 2 vehicles within 15 meters behind ego vehicle", + "pedestrian facing toward ego vehicle", "bus within 5 meters to either side of ego vehicle", - "ego vehicle two cars ahead of another vehicle", - "the vehicle two cars behind the ego vehicle", + "group of people", "pedestrian near construction cone", "vehicle in close proximity to bicycle", "moving bus being crossed by a bicycle" @@ -2631,68 +2631,68 @@ "motorcycle near construction cone", "pedestrian in front of a bicyclist who is to the left of a vehicle", "bicycle crossing vehicle path at intersection", - "bicycle near traffic cone", "motorcyclist traveling opposite to bicycle traffic", "vehicle maneuvering between construction barriers", "city bus", + "bicycle following closely behind a vehicle", "ego vehicle near articulated bus", "ego vehicle approaching bicycle merging from bike lane", "regular vehicle turning right" ], "8ee606e6-4cbd-3c07-8419-fbda836ccaac": [ + "dog", "bicyclist riding in vehicle lane", "bicyclist on intersection", "dog near an intersection", - "car following closely behind bicyclist", "bicycle sharing lane as a regular vehicle", "pedestrian near stop sign", - "bicycle on intersection", - "stop sign behind a pedestrian", + "ego vehicle with vehicles on both sides", + "dog near pedestrian", "group of at least 3 moving bicyclists within 5 meters of each other", "ego vehicle merging between two regular vehicles" ], "adc1fad7-de31-371f-810b-140576d9accc": [ "vehicle stopped at a stop sign", + "dog near pedestrian", "vehicle accelerating aggressively", + "motorcycle between stopped vehicles", "motorcycle or pedestrian within 5 meters to the right of the ego vehicle", - "dog near an intersection", + "dog", "vehicle accelerating towards pedestrian crossing", "wheeled device (e.g., golf cart, segway) sharing a lane with a moving vehicle", - "motorcycle or pedestrian within 5 meters to the right", - "moving bus to the front-left of the ego vehicle", "motorcyclist", "multiple motorcycles ahead of the ego vehicle" ], "7ad46cf0-aa12-4050-ac2d-cf34b5f64d41": [ - "pedestrian walking alongside bollard", - "vehicle within 5 meters of a bicycle", + "accelerating passenger vehicle", "bus with another bus in its lane", "ego vehicle approaching stopped delivery truck", - "oncoming vehicle changing lanes", "city bus", - "pedestrian near bollard", + "left lane change while there is a vehicle to the left", + "pedestrian facing toward ego vehicle", + "ego vehicle with parked bicycles ahead", "multiple buses within 50 meters ahead", "vehicle two vehicles ahead is being crossed by a pedestrian", "vehicle braking near pedestrian crossing" ], "8e5022ed-87a9-4480-b2a7-a7c0494f5c7b": [ - "vehicle traveling in the same direction as the ego vehicle", - "the active vehicle in front of the vehicle ahead", - "parked vehicle", + "vehicle to the back right of the ego vehicle", "vehicle being passed on the left by another vehicle", "vehicle facing toward parked vehicles", + "vehicle with multiple pedestrians to the left", "vehicle facing away from the ego vehicle", "vehicle near multiple bollards", - "stationary object", + "object that hasn't moved", + "vehicle facing the ego vehicle", "vehicle changing lanes while on an intersection", "ego vehicle changing lanes to the right with a vehicle ahead" ], "16af3863-0d31-3cd1-8fa2-58053ffb953a": [ + "vehicle accelerating on intersection", "pedestrian to the left of a truck", - "ego vehicle approaching stopped delivery truck", + "vehicle behind another vehicle that has a pedestrian on its right side", "vehicle braking at pedestrian crossing", "box truck braking in front of ego vehicle", - "parked box trucks", "truck cab with trailer sharing lane with regular vehicle", "truck without trailer", "vehicle braking near pedestrian crossing", @@ -2700,23 +2700,23 @@ "pedestrian near bollard" ], "723147da-6beb-34cc-b1d7-2d4d3abc4d33": [ - "vehicle changing lanes to the right", - "ego vehicle with parked bicycles ahead", - "pedestrian facing toward the bus", + "bus with at least 3 pedestrians within 5 meters", "pedestrian walking alongside stopped bus", "multiple buses within 50 meters ahead", + "moving bus to the front-left of the ego vehicle", "vehicle braking at pedestrian crossing", "vehicle braking near pedestrian crossing", + "a group of people", "bus with another bus in its lane", "pedestrian on road not facing traffic", "passenger vehicle turning left at intersection" ], "8bc34c99-1b8f-3463-b0e7-12bf1eb222b3": [ - "box trucks within 10 meters of an intersection", "vehicle being followed by ego vehicle while being overtaken on right", + "vehicle being overtaken on the right", "parked box trucks", - "vehicle two cars ahead is braking", - "ego vehicle following vehicle that is being overtaken on the right", + "vehicle changing lanes while on an intersection", + "the vehicle two cars behind the ego vehicle", "accelerating truck", "pedestrian between moving vehicles on both sides", "vehicle passing truck with pedestrian crossing ahead", @@ -2724,72 +2724,72 @@ "vehicle two vehicles ahead is braking" ], "4d7b84b9-0a03-3aa1-83f0-4766013c3fb1": [ - "vehicle making a right turn", + "car driving in bus lane", "pedestrian to the left of a truck", "moving pedestrian within 3 meters to the left of ego vehicle", "vehicle at intersection facing another vehicle", + "motorcycle between two vehicles", "vehicle being tailgated while approaching stopped traffic", - "stopped car", "vehicle facing and heading toward pedestrian group", "motorcycle between stopped vehicles", "vehicle sharing a lane with another vehicle", - "ego vehicle merging between two regular vehicles" + "bicycle traveling with vehicle traffic" ], "b275d09d-9da2-380b-a748-528ee28bc9af": [ + "vehicle getting passed from the right", "vehicle two vehicles ahead is braking", - "vehicle being overtaken on the left", "vehicle stopped at construction barrel", "vehicle near construction barrel", "ego vehicle changing lanes to the right with a vehicle ahead", + "vehicle near multiple bollards", "ego vehicle merging between two regular vehicles", - "pedestrians over 30 meters away", - "stationary construction barrel", + "vehicle hard braking with another vehicle ahead", "pedestrian on road not facing traffic", "ego vehicle near bollard" ], "108d2060-8bef-3d1c-88c5-c8295f596595": [ + "vehicle accelerating more than two meters per second", "box trucks within 10 meters of an intersection", "box truck near at least 3 construction cones", - "ego vehicle near bollard", - "truck on intersection", - "vehicle near multiple bollards", "box truck braking in front of ego vehicle", + "parked box trucks", "box truck in bike lane", - "pedestrians over 30 meters away", + "ego vehicle near construction cone", + "ego vehicle with vehicles on both sides", "truck sharing a lane with another truck", "vehicle stopped at a stop sign" ], "0d8aab9f-4edf-3fb3-895a-ba64e8f2cfb2": [ "ego vehicle approaching pedestrian at crosswalk", - "vehicle near multiple bollards", - "vehicle two vehicles ahead is changing lanes", + "pedestrian facing toward the bus", "bus within 5 meters to either side of ego vehicle", "vehicle accelerating while changing lanes", - "vehicle accelerating more than two meters per second", + "vehicle facing toward a pedestrian at a crosswalk", + "pedestrian near bollard", "truck on intersection", "pedestrian crossing between bollards", "pedestrian crossing in front of vehicle at crosswalk", "vehicle turning right at stop sign" ], "d0cc23f4-f4ab-3755-8e63-2e3940f68d89": [ - "vehicle accelerating on intersection", - "dog near an intersection", - "any vehicle in front of stop sign", + "vehicle being crossed by a pedestrian", "dog on roadway", - "active vehicle at stop sign", + "stopped car", "dog near pedestrian", "vehicle stopped at a stop sign", - "vehicle accelerating more than two meters per second", + "vehicle at a stop sign", + "vehicle being overtaken while approaching another vehicle", + "vehicle braking heavily", "lane splitting motorcycle", "vehicle turning right with pedestrian in front" ], "0b97f5dd-c396-3c02-b07d-b7fdbcb6c3d0": [ - "vehicle behind another vehicle that has a pedestrian on its right side", + "vehicle accelerating on intersection", + "pedestrian facing toward ego vehicle", + "ego vehicle near construction cone", "vehicle near construction barrel", - "vehicle being overtaken on the left", - "stationary construction barrel", - "vehicle being overtaken on the right", - "turning left", + "ego vehicle following vehicle being overtaken on right", + "ego vehicle two cars ahead of another vehicle", "ego vehicle near construction barrel", "construction barrel with at least 2 construction cones within 3 meters", "vehicle approaching multiple pedestrians at crosswalk", @@ -2797,23 +2797,23 @@ ], "ccb4e29d-e88f-3fbe-8958-67cfd62350a3": [ "pedestrians using designated crossing", - "pedestrian walking past right side of vehicle", - "making a left lane change while there is a vehicle to the right", - "vehicle accelerating more than two meters per second", + "vehicle being overtaken on the right", "pedestrians facing each other at close range, possibly conversing", - "regular vehicles that are stopped or nearly stopped", - "pedestrian on intersection not using a crosswalk", - "jaywalking pedestrian", + "the vehicle two cars behind the ego vehicle", + "stopped car", + "stationary object", + "vehicle being crossed by a pedestrian", + "vehicle changing lanes to the right", "bicycle passing by parked vehicle", "vehicle changing lanes through bike lane" ], "13209193-55c7-3827-917e-e04460b8f49b": [ "vehicle two vehicles ahead is changing lanes", - "ego vehicle in dense traffic with lane-changing vehicles", - "vehicle changing lanes to the right", - "left lane change while there is a vehicle to the left", - "stationary construction barrel", - "making a left lane change while there is a vehicle to the right", + "turning left", + "vehicle accelerating while changing lanes", + "vehicle accelerating more than two meters per second", + "the active vehicle in front of the vehicle ahead", + "stop sign behind a pedestrian", "ego vehicle near construction barrel", "vehicle two cars ahead is changing lanes", "vehicle two vehicles ahead is braking", @@ -2823,94 +2823,94 @@ "motorcycle near construction cone", "bicycle and vehicle traveling in bike lane", "ego vehicle approaching cyclist in same lane", - "bicycle traveling with vehicle traffic", "bicycle near traffic cone", - "bicycle on intersection", + "dog", + "bicycle facing toward moving traffic", "motorcyclist", "bicyclist within 3 meters on either side", "vehicle facing toward parked vehicles", "car following closely behind bicyclist" ], "9239d493-31d7-3dd0-a05f-03d50a242392": [ - "ego vehicle near construction barrel", "vehicle changing lanes to the right", + "vehicle approaching stopped vehicle at intersection", "ego vehicle with vehicles on both sides", - "vehicle making a right turn", "truck without trailer", "vehicle two vehicles ahead is turning", "vehicle near construction barrel", - "ego vehicle with parked bicycles ahead", + "vehicle changing lanes while on an intersection", + "vehicle near multiple bollards", "ego vehicle approaching crossing pedestrians", "vehicle facing and heading toward pedestrian group" ], "ff52c01e-3d7b-32b1-b6a1-bcff3459ccdd": [ - "vehicle accelerating aggressively", - "bicyclist on intersection", "bus making right turn", "vehicle accelerating more than two meters per second", + "vehicle two cars ahead is being crossed by a pedestrian", + "bicyclist riding in vehicle lane", "ego vehicle approaching pedestrian at crosswalk", "bicycle in same lane as a vehicle", "bicycle facing toward a vehicle", - "pedestrian facing toward the bus", + "bicycle traveling with vehicle traffic", "bicycle between two vehicles traveling in same direction", "bicycle facing toward moving traffic" ], "e7e178aa-931a-4674-9bff-9278a54e6aae": [ "vehicle navigating near multiple bicycles", - "pedestrians using designated crossing", - "vehicle in close proximity to bicycle", - "vehicle being crossed by a pedestrian", - "regular vehicles that are stopped or nearly stopped", + "pedestrian near construction cone", + "pedestrian crossing at bollard", + "pedestrian to the back-right of the ego vehicle", + "turning left", + "motorcycle or pedestrian within 5 meters to the right", "motorcyclist braking hard", - "vehicle behind another vehicle that has a pedestrian on its right side", - "pedestrian crossing between bollards", + "pedestrians over 30 meters away", "bicycle following closely behind a vehicle", "ego vehicle merging between two regular vehicles" ], "ac1b1697-42b9-4225-a666-d17f72204fa8": [ + "vehicle hard braking with another vehicle ahead", "vehicle passing truck with pedestrian crossing ahead", + "ego vehicle following vehicle being overtaken on right", "accelerating truck", "box truck changing lanes to the left", "vehicle braking near pedestrian crossing", - "vehicle accelerating aggressively", - "vehicle being overtaken on the left", + "vehicle being passed on the left by another vehicle", "vehicle braking at pedestrian crossing", - "vehicle accelerating towards pedestrian crossing", "passenger vehicle turning left at intersection", "ego vehicle approaching stopped truck" ], "ce5033ee-e74e-354a-9299-8aaefbd03f59": [ + "vehicle moving at crawling speed", + "vehicle being overtaken on the left", "active vehicle at stop sign", - "vehicle facing away from the ego vehicle", - "vehicle accelerating towards pedestrian crossing", + "any vehicle in front of stop sign", "vehicle stopped at a stop sign", "vehicle following another vehicle too closely", - "at least active 2 vehicles within 15 meters behind ego vehicle", - "vehicle accelerating aggressively", - "stopped car", + "vehicle facing toward parked vehicles", + "vehicle being passed on the left by another vehicle", "ego vehicle merging between two regular vehicles", "vehicle turning right at stop sign" ], "a3e09a66-a921-3c4a-89e6-7fecf6854a3a": [ "vehicle directly facing a moving pedestrian from 5-15 meters away", "stationary object", - "object that hasn't moved", - "pedestrian walking with dog on sidewalk", "dog near pedestrian", - "parked vehicle", - "dog", + "vehicle facing the ego vehicle", + "vehicle facing toward parked vehicles", + "vehicle to the back right of the ego vehicle", + "pedestrian facing toward ego vehicle", "vehicle facing away from the ego vehicle", "vehicle traveling over 20 meters per second", "vehicle two cars ahead is being crossed by a pedestrian" ], "fa9ec72a-cbcf-35dc-be20-4d0d9e7215ef": [ - "vehicle accelerating while changing lanes", - "vehicle directly facing a moving pedestrian from 5-15 meters away", + "at least active 2 vehicles within 15 meters behind ego vehicle", + "vehicle at intersection facing another vehicle", + "vehicle changing lanes to the right", + "vehicle changing lanes", "vehicle near multiple bollards", - "vehicle to the back right of the ego vehicle", + "vehicle being overtaken while approaching another vehicle", "vehicle two cars ahead is braking", - "vehicle changing lanes while on an intersection", - "oncoming vehicle changing lanes", "vehicle hard braking with another vehicle ahead", "accelerating vehicle changing lanes to the right", "passenger vehicle swerving left" @@ -2919,117 +2919,117 @@ "pedestrian crossing ahead of ego vehicle", "vehicle with multiple bicycles ahead", "group of three people", - "vehicle in close proximity to bicycle", "ego vehicle approaching crossing pedestrians", "vehicle navigating near multiple bicycles", - "accelerating vehicle changing lanes to the right", + "group of people", "ego vehicle with parked bicycles ahead", + "vehicle facing toward a pedestrian at a crosswalk", "vehicle braking near pedestrian crossing", "bus making right turn" ], "b43d449e-daaf-33a1-bb7f-3f7a0b5f056c": [ - "vehicle hard braking with another vehicle ahead", "unattended dog", "accelerating wheeled devices", - "vehicle accelerating while changing lanes", + "pedestrian walking with dog on sidewalk", "vehicle two vehicles ahead is changing lanes", - "vehicle two cars ahead is changing lanes", "wheeled device (e.g., golf cart, segway) sharing a lane with a moving vehicle", + "dog near pedestrian", "pedestrian with multiple dogs", + "dog", "vehicle approaching and facing a stopped vehicle at an intersection", "ego vehicle approaching crossing pedestrians" ], "3a1b3424-700b-3b65-9e89-90772a8e24ea": [ - "group of people", "pedestrian between moving vehicles on both sides", "any vehicle in front of stop sign", - "vehicle facing toward a pedestrian at a crosswalk", "ego vehicle approaching pedestrian at crosswalk", + "vehicle directly facing a moving pedestrian from 5-15 meters away", "active vehicle at stop sign", "pedestrian facing toward the bus", + "vehicle with multiple pedestrians to the left", "a group of people", "box truck near at least 3 construction cones", "motorcycle in the same lane as a box truck" ], "c08279c0-10b4-3d21-b13f-a1c1a0b87f8b": [ - "vehicle facing the ego vehicle", - "vehicle two vehicles ahead is braking", - "vehicle facing away from the ego vehicle", + "pedestrian walking past right side of vehicle", + "pedestrian crossing ahead of ego vehicle", + "vehicle behind another vehicle that has a pedestrian on its right side", "vehicle sharing a lane with another vehicle", - "vehicle getting passed from the right", "ego vehicle approaching crossing pedestrians", - "vehicle facing toward parked vehicles", + "pedestrian between moving vehicles on both sides", "vehicle to the back right of the ego vehicle", + "vehicle following another vehicle too closely", "pedestrian on intersection not using a crosswalk", "ego vehicle following vehicle that is being overtaken on the right" ], "f41d0e8f-856e-3f7d-a3f9-ff5ba7c8e06d": [ + "bicycle in vehicle lane with vehicle", "bicycle traveling alongside parked vehicles", "vehicle turning left with a bicycle in front of it", + "bicycle passing by parked vehicle", "bicycle behind a bus", "bicycle near a bus", "ego vehicle approaching cyclist in same lane", "city bus", - "bicycle sharing lane as a regular vehicle", - "car following closely behind bicyclist", "ego vehicle approaching bicycle merging from bike lane", "vehicle two cars ahead is being crossed by a pedestrian" ], "41c3597a-aab1-3123-85a1-dd5d459af461": [ + "vehicle sharing a lane with another vehicle", "passenger vehicle turning right", "vehicle making a right turn", - "pedestrian walking past right side of vehicle", - "truck on intersection", - "vehicle accelerating towards pedestrian crossing", + "vehicle being passed on the left by another vehicle", "vehicle two vehicles ahead is turning", "accelerating passenger vehicle", + "ego vehicle following vehicle that is being overtaken on the right", "accelerating truck", "ego vehicle near construction cone", "bicycle traveling alongside parked vehicles" ], "5b1d8b11-4f90-3577-be0b-193e102fda82": [ "the vehicle behind another vehicle being crossed by a jaywalking pedestrian", - "car turning right", - "stopped vehicles at intersection being crossed by pedestrians", + "objects getting closer to the ego vehicle", "vehicle two vehicles ahead is being crossed by a pedestrian", + "pedestrian crossing ahead of ego vehicle", "bicycle near traffic cone", - "vehicle two cars ahead is being crossed by a pedestrian", - "vehicle making a right turn", "left lane change while there is a vehicle to the left", + "vehicle being followed by ego vehicle while being overtaken on right", + "vehicle turning right with pedestrian in front", "vehicle traveling over 20 meters per second", "vehicle with multiple pedestrians to the left" ], "03b2cf2d-fb61-36fe-936f-36bbf197a8ac": [ - "pedestrians using designated crossing", - "pedestrian on intersection not using a crosswalk", + "pedestrian near bollard", "vehicle turning right with pedestrian waiting", - "pedestrians facing each other at close range, possibly conversing", + "vehicle with multiple pedestrians to the left", + "vehicle accelerating on intersection", + "ego vehicle approaching pedestrian at crosswalk", "pedestrian between moving vehicles on both sides", - "group of pedestrians ahead of the ego vehicle", + "vehicle hard braking with another vehicle ahead", "ego vehicle near construction cone", - "pedestrian near construction cone", "ego vehicle near bollard", "group of three people" ], "b51561d9-08b0-3599-bc78-016f1441bb91": [ + "pedestrian walking with stroller", "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters", "bicycle near a bus", - "vehicle changing lanes to the right", - "vehicle braking near jaywalking pedestrian or stroller", - "accelerating vehicle changing lanes to the right", + "vehicle navigating near multiple bicycles", + "group of three people", "vehicle changing lanes while on an intersection", - "vehicle facing toward a pedestrian at a crosswalk", - "vehicle with multiple bicycles ahead", + "ego vehicle approaching pedestrian at crosswalk", + "stroller", "vehicle traveling over 20 meters per second", "vehicle changing lanes through bike lane" ], "14f5485e-7417-3a5b-9be3-ec88461d03d4": [ + "pedestrians facing each other at close range, possibly conversing", + "pedestrians using designated crossing", "pedestrian walking with dog on sidewalk", - "pedestrian near construction cone", "ego vehicle approaching pedestrian at crosswalk", + "pedestrian walking past right side of vehicle", "dog", - "pedestrian crossing at bollard", - "pedestrian walking alongside bollard", "vehicle accelerating while changing lanes", "dog near pedestrian", "pedestrian crossing ahead of ego vehicle", @@ -3037,143 +3037,143 @@ ], "9afab336-dbae-3f70-a669-46813f4570d7": [ "dog near an intersection", + "vehicle facing toward a pedestrian at a crosswalk", "ego vehicle approaching stopped truck", "pedestrian to the left of a truck", - "dog near pedestrian", "ego vehicle approaching intersection with crossing dog", + "pedestrian walking with dog on sidewalk", "pedestrian walking alongside stopped bus", "dog on roadway", - "dog", "stopped vehicles at intersection being crossed by pedestrians", "ego vehicle approaching intersection with a pedestrian crossing in front of multiple trucks" ], "90f360d8-35f7-3c54-b2da-e99b354bc4cb": [ - "vehicle facing toward parked vehicles", "vehicle facing away from the ego vehicle", - "object that hasn't moved", + "parked vehicle", "vehicle to the back right of the ego vehicle", - "pedestrian on intersection not using a crosswalk", + "stationary object", + "vehicle directly facing a moving pedestrian from 5-15 meters away", + "pedestrians over 30 meters away", "vehicle at a stop sign", - "pedestrian facing toward ego vehicle", "vehicle facing the ego vehicle", "vehicle traveling in the opposite direction as the ego vehicle", "vehicle approaching and facing a stopped vehicle at an intersection" ], "7186d7d2-453e-4193-b327-72b66bbe3fd0": [ - "parked vehicle", + "a group of people", "wheeled device (e.g., golf cart, segway) sharing a lane with a moving vehicle", + "motorcycle or pedestrian within 5 meters to the right of the ego vehicle", "object that hasn't moved", - "pedestrians over 30 meters away", "stopped car", + "motorcycle between two vehicles", "regular vehicles that are stopped or nearly stopped", - "pedestrian to the back-right of the ego vehicle", - "pedestrian facing toward ego vehicle", + "group of pedestrians ahead of the ego vehicle", "vehicle passing bicycle near mobile pedestrian sign", "vehicle approaching stopped vehicle at intersection" ], "770a58e6-eff6-39b7-a265-fe7f202fe8b2": [ "ego vehicle changing lanes to the right with a vehicle ahead", "bicycle facing toward a vehicle", + "vehicle two cars ahead is changing lanes", "accelerating truck", + "vehicle with a bicycle to its right", "vehicle two vehicles ahead is changing lanes", "bicycle facing toward moving traffic", - "vehicle facing the ego vehicle", - "vehicle facing away from the ego vehicle", "vehicle with multiple bicycles ahead", "group of people", "vehicle being passed on the left by another vehicle" ], "9b1da4e7-03a9-3277-91f3-ef6e610a6320": [ - "passenger vehicle turning right", + "vehicle two cars ahead is braking", "vehicle passing near person in wheelchair", "passenger vehicle swerving left", - "ego vehicle following vehicle being overtaken on right", + "vehicle two vehicles ahead is turning", "vehicle changing lanes while in bike lane", "box trucks within 10 meters of an intersection", - "vehicle changing lanes to the right", + "vehicle two vehicles ahead is changing lanes", "vehicle changing lanes through bike lane", "vehicle facing and heading toward pedestrian group", "vehicle at a stop sign" ], "83faae69-e37e-4804-b7a9-684d4a900320": [ - "pedestrian facing toward ego vehicle", + "pedestrian between moving vehicles on both sides", + "vehicle moving at crawling speed", + "accelerating truck", "pedestrian to the left of a truck", "truck sharing a lane with another truck", "vehicle passing truck with pedestrian crossing ahead", - "vehicle being overtaken on the right", "moving pedestrian within 3 meters to the left of ego vehicle", "ego vehicle following vehicle that is being overtaken on the right", - "vehicle being followed by ego vehicle while being overtaken on right", "any vehicle in front of stop sign", "bicycle in vehicle lane with vehicle" ], "4d324eb4-39f1-3837-9b97-c10db5d2b61d": [ - "pedestrians over 30 meters away", "pedestrian facing toward ego vehicle", - "group of people", - "vehicle facing toward a pedestrian at a crosswalk", - "the vehicle two cars behind the ego vehicle", + "pedestrian on intersection not using a crosswalk", "regular vehicles that are stopped or nearly stopped", + "bus within 5 meters to either side of ego vehicle", "vehicle sharing a lane with another vehicle", "vehicle traveling in the same direction as the ego vehicle", - "ego vehicle approaching stopped truck", - "stop sign behind a pedestrian" + "pedestrians using designated crossing", + "vehicle facing away from the ego vehicle", + "vehicle turning left while pedestrian crosses at crosswalk", + "ego vehicle approaching stopped truck" ], "e65e405c-8aea-30f5-a926-1e0fbbeefb9f": [ - "vehicle being overtaken on the right", - "pedestrian crossing at bollard", + "dog near an intersection", + "vehicle with multiple bicycles ahead", "bicycle following closely behind a vehicle", - "vehicle being followed by ego vehicle while being overtaken on right", + "motorcycle or pedestrian within 5 meters to the right of the ego vehicle", "vehicle navigating near multiple bicycles", - "vehicle being overtaken on the left", "vehicle in close proximity to bicycle", "vehicle crossing path of another vehicle", + "pedestrian to the back-right of the ego vehicle", "vehicle two cars ahead is braking", "pedestrian turning and watching the ego vehicle" ], "59a668bc-5caf-3ccc-8335-e9cff4c61d0e": [ - "vehicle moving at crawling speed", + "regular vehicles that are stopped or nearly stopped", "vehicle facing the ego vehicle", - "vehicle at a stop sign", "stationary object", - "vehicle sharing a lane with another vehicle", + "stop sign behind a pedestrian", "the vehicle two cars in front of the ego vehicle", "the vehicle two cars behind the ego vehicle", "parked vehicle", + "stopped car", "vehicle at intersection facing another vehicle", "bicycle and vehicle traveling in bike lane" ], "7ebbdbeb-a8de-3612-8f22-6ce91980841d": [ "moving pedestrian within 3 meters to the left of ego vehicle", + "box trucks within 10 meters of an intersection", "ego vehicle approaching crossing pedestrians", "vehicle passing truck with pedestrian crossing ahead", "pedestrian between moving vehicles on both sides", "pedestrian crossing ahead of ego vehicle", "multiple pedestrians crossing ahead", - "parked box trucks", - "vehicle with multiple bicycles ahead", + "ego vehicle approaching stopped delivery truck", "turning left", "vehicle braking near pedestrian crossing" ], "aedbd525-e6df-4c0c-8be6-61c27fe58fd6": [ "motorcycle between stopped vehicles", - "vehicle two vehicles ahead is braking", + "parked vehicle", + "vehicle facing the ego vehicle", "vehicle traveling in the opposite direction as the ego vehicle", "vehicle getting passed from the right", "object that hasn't moved", - "vehicle traveling in the same direction as the ego vehicle", "vehicle facing toward parked vehicles", "motorcycle between two vehicles", "vehicle braking near pedestrian crossing", "ego vehicle following vehicle being overtaken on right" ], "18bdf01b-6ba6-30a8-a707-1f1458529d3d": [ - "bicycle passing by parked vehicle", "pedestrian in front of a bicyclist who is to the left of a vehicle", "bicycle traveling with vehicle traffic", "dog near pedestrian", "pedestrian walking with stroller", "bicycle in same lane as a vehicle", + "bicycle traveling alongside parked vehicles", "bicycle sharing lane as a regular vehicle", "stroller", "vehicle surrounded by bicycles on all sides", @@ -3182,9 +3182,9 @@ "eaaf5ad3-2cec-3369-b3d1-97c737ecaf19": [ "pedestrian between moving vehicles on both sides", "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters", - "ego vehicle in dense traffic with lane-changing vehicles", - "bus within 5 meters to either side of ego vehicle", - "pedestrian walking alongside stopped bus", + "turning left", + "vehicle accelerating aggressively", + "vehicle accelerating while changing lanes", "city bus", "bus with another bus in its lane", "ego vehicle near articulated bus", @@ -3193,71 +3193,71 @@ ], "e68d1f0d-eb44-3751-975d-f80609f695ae": [ "vehicle hard braking with another vehicle ahead", + "truck without trailer", "vehicle passing truck with pedestrian crossing ahead", "box truck with multiple construction cones to its right", "box truck braking in front of ego vehicle", - "vehicle facing toward a pedestrian at a crosswalk", + "truck on intersection", "box truck near at least 3 construction cones", - "vehicle braking heavily", "accelerating truck", "vehicle two cars ahead is being crossed by a pedestrian", "vehicle approaching and facing a stopped vehicle at an intersection" ], "8858428d-8fd5-3c3f-8ca4-d01f6e25e63c": [ - "vehicle turning right with pedestrian in front", - "pedestrian walking with stroller", "vehicle turning right next to pedestrian with stroller", "passenger vehicle near stroller in road", + "stopped vehicles at intersection being crossed by pedestrians", "vehicle turning left while pedestrian crosses at crosswalk", + "pedestrian crossing in front of vehicle at crosswalk", "vehicle turning while pedestrian crosses with stroller", - "ego vehicle approaching crossing pedestrians", "multiple pedestrians crossing ahead", + "stroller", "vehicle changing lanes through bike lane", "vehicle approaching stopped vehicle at intersection" ], "6b14d7c0-20f9-390b-af38-507a5de5998c": [ "vehicle traveling over 20 meters per second", "dog crossing in front of vehicle", - "stop sign behind a pedestrian", + "vehicle near construction barrel", + "vehicle two vehicles ahead is being crossed by a pedestrian", "vehicle braking near jaywalking pedestrian or stroller", + "dog near an intersection", "bicycle near traffic cone", - "pedestrian near stop sign", "dog on roadway", - "stationary construction barrel", "active vehicle at stop sign", "stroller with bollards on both sides" ], "3b2e6033-f37f-3a73-9fab-88317b9b6095": [ - "motorcycle between stopped vehicles", - "regular vehicle turning right", + "box trucks within 10 meters of an intersection", "stroller", "ego vehicle following vehicle that is being overtaken on the right", "pedestrian walking with stroller", "school bus on intersection", - "pedestrian turning and watching the ego vehicle", + "vehicle turning right with pedestrian in front", "motorcycle between two vehicles", + "vehicle with multiple pedestrians to the left", "bus in the same lane as a truck", "box truck with multiple construction cones to its right" ], "b5e6e498-54b3-37bb-b2a3-cdac33a18363": [ + "ego vehicle with parked bicycles ahead", "truck on intersection", - "vehicle in close proximity to bicycle", - "vehicle within 5 meters of a bicycle", + "ego vehicle following vehicle that is being overtaken on the right", "vehicle changing lanes through bike lane", - "vehicle changing lanes to the right", "vehicle with a bicycle to its right", "vehicle approaching stopped vehicle at intersection", + "box trucks within 10 meters of an intersection", "vehicle changing lanes while in bike lane", "vehicle facing and heading toward pedestrian group", "ego vehicle approaching intersection with a pedestrian crossing in front of multiple trucks" ], "85026edc-5fdf-308e-a8ef-a1aad1151c50": [ - "vehicle with a bicycle to its right", - "ego vehicle with parked bicycles ahead", - "accelerating vehicle changing lanes to the right", + "pedestrian near bollard", "accelerating truck", "vehicle navigating near multiple bicycles", - "pedestrian between moving vehicles on both sides", + "ego vehicle following vehicle being overtaken on right", + "oncoming vehicle changing lanes", + "vehicle in close proximity to bicycle", "vehicle with multiple bicycles ahead", "pedestrian crossing between bollards", "bicycle crossing vehicle path at intersection", @@ -3265,107 +3265,107 @@ ], "bb533c69-1e0b-341c-bedd-ff25fe9b84bf": [ "vehicle braking near pedestrian crossing", - "pedestrian crossing between bollards", + "vehicle approaching stopped vehicle at intersection", "truck on intersection", "city bus", "bicycle on intersection", "bus in bus lane", + "vehicle accelerating towards pedestrian crossing", "vehicle braking at pedestrian crossing", - "bicyclist on intersection", "ego vehicle near pedestrian crossing sign", "ego vehicle changing lanes to the left" ], "4c18ef76-84ba-4a78-8275-7663101fffcf": [ - "vehicle turning right with pedestrian in front", + "vehicle being tailgated while approaching stopped traffic", + "motorcycle or pedestrian within 5 meters to the right of the ego vehicle", "vehicle approaching pedestrians waiting at a crosswalk", - "stopped vehicle facing a turning vehicle between 5-20 meters away", - "the vehicle behind another vehicle being crossed by a jaywalking pedestrian", "vehicle facing and heading toward pedestrian group", "passenger vehicle turning left at intersection", - "vehicle turning at intersection with nearby pedestrians", + "passenger vehicle turning right", "vehicle two vehicles ahead is turning", + "vehicle making a right turn", "active vehicle at stop sign", "accelerating passenger vehicle" ], "5bc5e7b0-4d90-3ac8-8ca8-f6037e1cf75c": [ "stopped vehicle facing a turning vehicle between 5-20 meters away", - "vehicle traveling in the opposite direction as the ego vehicle", + "objects getting closer to the ego vehicle", + "box truck with multiple construction cones to its right", + "vehicle turning at intersection with nearby pedestrians", + "pedestrian turning and watching the ego vehicle", "pedestrian facing toward ego vehicle", "box truck near at least 3 construction cones", - "vehicle moving at crawling speed", - "passenger vehicle turning left at intersection", "ego vehicle changing lanes to the left", - "left lane change while there is a vehicle to the left", - "ego vehicle changing lanes to the right with a vehicle ahead", - "box truck braking in front of ego vehicle" + "vehicle passing stopped truck with pedestrian nearby", + "ego vehicle changing lanes to the right with a vehicle ahead" ], "ef625e46-d0d4-38b9-9403-5614e7b39ec8": [ "pedestrian crossing in front of vehicle at crosswalk", - "vehicles being passed by a motorcycle on either side", + "vehicle in close proximity to bicycle", + "the vehicle two cars behind the ego vehicle", + "vehicle two cars ahead is braking", + "vehicle two cars ahead is being crossed by a pedestrian", + "motorcycle between two vehicles", "motorcycle between stopped vehicles", - "ego vehicle with parked bicycles ahead", - "motorcycle or pedestrian within 5 meters to the right of the ego vehicle", - "pedestrian between moving vehicles on both sides", - "pedestrian near bollard", - "motorcyclist", + "passenger vehicle swerving left", "bicycle passing by parked vehicle", "bicycle on intersection" ], "df1935dc-1e5f-3f4d-bdcb-e6c2bcb07667": [ - "passenger vehicle swerving left", "vehicle with multiple pedestrians to the left", "vehicle traveling over 20 meters per second", - "turning left", + "vehicle two vehicles ahead is changing lanes", "vehicle two vehicles ahead is braking", + "the active vehicle in front of the vehicle ahead", "at least active 2 vehicles within 15 meters behind ego vehicle", "vehicle two cars ahead is changing lanes", - "vehicle directly facing a moving pedestrian from 5-15 meters away", + "accelerating vehicle changing lanes to the right", "vehicle turning right with pedestrian in front", "pedestrian to the back-right of the ego vehicle" ], "4eb237d9-9f8c-3426-9da6-4aad349ff8aa": [ "wheeled device (e.g., golf cart, segway) sharing a lane with a moving vehicle", - "car turning right", + "regular vehicle turning right", "passenger vehicle turning right", - "ego vehicle with vehicles on both sides", + "oncoming vehicle changing lanes", "vehicle changing lanes while in bike lane", - "vehicle approaching stopped vehicle at intersection", "vehicle being tailgated while approaching stopped traffic", "vehicle changing lanes through bike lane", + "vehicle at intersection facing another vehicle", "motorcycle or pedestrian within 5 meters to the right of the ego vehicle", "pedestrian approaching a parked vehicle" ], "7cd08674-1787-37d9-9365-988df023724b": [ "bicycle traveling alongside parked vehicles", - "bicycle traveling with vehicle traffic", "car following closely behind bicyclist", + "bicycle in vehicle lane with vehicle", + "bicycle facing toward a vehicle", "bicycle facing toward moving traffic", "vehicle within 5 meters of a bicycle", - "vehicle with multiple pedestrians to the left", "pedestrian in front of a bicyclist who is to the left of a vehicle", "bicycle in same lane as a vehicle", "bicycle near traffic cone", "ego vehicle approaching construction barrels with a vehicle turning right ahead" ], "cf6a99cb-b8bc-34d7-bdca-30e50e66cd74": [ - "vehicle behind another vehicle that has a pedestrian on its right side", + "accelerating passenger vehicle", + "vehicle sharing a lane with another vehicle", + "vehicle hard braking with another vehicle ahead", + "vehicle directly facing a moving pedestrian from 5-15 meters away", "vehicle to the back right of the ego vehicle", - "regular vehicles that are stopped or nearly stopped", - "pedestrian near bollard", - "motorcycle between two vehicles", - "parked vehicle", - "vehicle two vehicles ahead is braking", - "the active vehicle in front of the vehicle ahead", + "vehicle facing the ego vehicle", + "motorcycle between stopped vehicles", + "vehicle facing away from the ego vehicle", "vehicle with multiple pedestrians to the left", "vehicle stopped at a stop sign" ], "4f363f6a-e51c-4d22-b232-cf78f1520966": [ "objects getting closer to the ego vehicle", + "pedestrian turning and watching the ego vehicle", "construction item on road", - "vehicle stopped at construction barrel", - "bicycle facing toward a vehicle", - "ego vehicle near construction barrel", "vehicle being tailgated while approaching stopped traffic", + "pedestrian walking past right side of vehicle", + "pedestrians over 30 meters away", "stationary construction barrel", "bus changing lanes", "bicycle passing between bus and construction barrier", @@ -3377,8 +3377,8 @@ "multiple pedestrians crossing ahead", "bus with multiple pedestrians waiting on the right side", "bicycle near a bus", + "moving bus to the front-left of the ego vehicle", "bus making right turn", - "multiple buses within 50 meters ahead", "bus with at least 3 pedestrians within 5 meters", "vehicle surrounded by bicycles on all sides", "vehicle stopped at a stop sign" @@ -3396,49 +3396,49 @@ "vehicle approaching and facing a stopped vehicle at an intersection" ], "4667e48c-4d16-38be-b277-6b0013d6588c": [ - "pedestrian walking past right side of vehicle", + "pedestrian on intersection not using a crosswalk", + "vehicle braking near jaywalking pedestrian or stroller", "vehicle stopped at construction barrel", - "pedestrian near bollard", "stationary construction barrel", "vehicle two cars ahead is being crossed by a pedestrian", "vehicle near construction barrel", - "stopped car", - "objects getting closer to the ego vehicle", - "ego vehicle approaching animal near construction zone", - "vehicle within 5 meters of a bicycle" + "ego vehicle approaching crossing pedestrians", + "pedestrian crossing ahead of ego vehicle", + "pedestrians, strollers, or wheeled devices at a pedestrian crossing", + "ego vehicle approaching animal near construction zone" ], "4766da89-ca13-3e92-b53e-00bc710e9bba": [ - "vehicle getting passed from the right", - "vehicle moving at crawling speed", - "pedestrian to the back-right of the ego vehicle", + "ego vehicle two cars ahead of another vehicle", "ego vehicle following vehicle being overtaken on right", "bicycle in vehicle lane with vehicle", - "vehicle facing the ego vehicle", + "ego vehicle approaching cyclist in same lane", "at least active 2 vehicles within 15 meters behind ego vehicle", + "bicycle facing toward a vehicle", "vehicle traveling in the opposite direction as the ego vehicle", + "ego vehicle near bollard", "vehicle changing lanes through bike lane", "bus changing lanes" ], "bb9be2e6-8f0e-3bb3-8bb9-5d9aa9df384d": [ + "bicycle traveling alongside parked vehicles", "car driving in bus lane", - "multiple pedestrians crossing ahead", "city bus", "bus changing lanes", "bus making right turn", "bus in bus lane", "bus with another bus in its lane", - "box trucks within 10 meters of an intersection", + "bicycle sharing lane as a regular vehicle", "wheeled rider crossing between moving vehicles", "ego vehicle near pedestrian crossing sign" ], "ec02cf7e-36d3-3e9d-8835-3b6c27975bea": [ - "vehicle near multiple bollards", - "vehicle changing lanes while on an intersection", + "ego vehicle with vehicles on both sides", "vehicle being overtaken while approaching another vehicle", "vehicle changing lanes", + "vehicle within 5 meters of a bicycle", + "vehicle with a bicycle to its right", + "turning left", "vehicle being passed on the left by another vehicle", - "vehicle being overtaken on the left", - "vehicle two cars ahead is changing lanes", "vehicle two vehicles ahead is changing lanes", "pedestrian turning and watching the ego vehicle", "vehicle making a right turn" @@ -3446,116 +3446,116 @@ "6419dcfd-8777-35fa-924c-ebefccde0a9b": [ "pedestrian crossing in front of vehicle at crosswalk", "car driving in bus lane", - "jaywalking pedestrian", - "motorcycle or pedestrian within 5 meters to the right", - "pedestrian on intersection not using a crosswalk", + "pedestrians using designated crossing", + "vehicle being overtaken on the right", + "vehicle being overtaken while approaching another vehicle", "vehicle changing lanes to the right", - "pedestrian near construction cone", + "group of three people", "pedestrian crossing between bollards", "bicycle passing by parked vehicle", "vehicle two cars ahead is being crossed by a pedestrian" ], "072c8e90-a51c-3429-9cdf-4dababb4e9d8": [ - "vehicle turning right with pedestrian waiting", "bus with another bus in its lane", "vehicle turning left at intersection while sharing lane with a bus", "vehicle turning left with a bicycle in front of it", "moving bus to the front-left of the ego vehicle", "ego vehicle approaching pedestrian at crosswalk", + "multiple buses within 50 meters ahead", "bus within 5 meters to either side of ego vehicle", - "bus changing lanes", + "group of people", "car driving in bus lane", "vehicle turning near group of cyclists" ], "a4f240a0-12d4-3542-a11f-0c592e90e4da": [ "pedestrian walking with dog on sidewalk", - "vehicle approaching stopped vehicle at intersection", - "vehicle accelerating towards pedestrian crossing", - "ego vehicle following vehicle that is being overtaken on the right", - "ego vehicle near construction cone", + "a group of people", + "accelerating vehicle changing lanes to the right", + "dog near pedestrian", + "dog", "unattended dog", - "pedestrian near construction cone", + "vehicle crossing path of another vehicle", "group of pedestrians ahead of the ego vehicle", "turning left", "wheeled device (e.g., golf cart, segway) sharing a lane with a moving vehicle" ], "c654b457-11d4-393c-a638-188855c8f2e5": [ - "ego vehicle two cars ahead of another vehicle", - "bicycle traveling with vehicle traffic", + "two cars back from the ego vehicle", + "pedestrian walking past right side of vehicle", + "vehicle in close proximity to bicycle", + "jaywalking pedestrian", "bicycle in same lane as a vehicle", - "vehicle being overtaken on the left", "bicycle sharing lane as a regular vehicle", - "ego vehicle with parked bicycles ahead", + "vehicle directly facing a moving pedestrian from 5-15 meters away", "bicycle in vehicle lane with vehicle", - "vehicle with multiple bicycles ahead", "pedestrian crossing ahead of ego vehicle", "vehicle two vehicles ahead is turning" ], "a4087bac-8194-4c9e-8b2d-4bda58773a3c": [ - "vehicle with multiple pedestrians to the left", "bicycle in vehicle lane with vehicle", - "vehicle within 5 meters of a bicycle", + "bicycle facing toward moving traffic", + "ego vehicle with parked bicycles ahead", "bicyclist on intersection", "bicycle traveling against traffic", "bicycle on intersection", "bicycle traveling with vehicle traffic", - "bicyclist riding in vehicle lane", + "vehicle in close proximity to bicycle", "vehicle accelerating while changing lanes", "vehicle hard braking with another vehicle ahead" ], "3fbdfb6c-927f-4aaa-81b1-21b02efd4c01": [ - "vehicle moving at crawling speed", - "at least active 2 vehicles within 15 meters behind ego vehicle", + "car turning right", + "vehicle being overtaken on the right", "vehicle accelerating towards pedestrian crossing", - "the vehicle two cars in front of the ego vehicle", - "ego vehicle following vehicle being overtaken on right", - "oncoming vehicle changing lanes", - "vehicle being tailgated while approaching stopped traffic", - "accelerating passenger vehicle", - "vehicle traveling over 20 meters per second", - "vehicle braking at pedestrian crossing" + "ego vehicle two cars ahead of another vehicle", + "vehicle making a right turn", + "vehicle being overtaken while approaching another vehicle", + "vehicle following another vehicle too closely", + "vehicle being followed by ego vehicle while being overtaken on right", + "passenger vehicle swerving left", + "vehicle braking heavily" ], "380e5bf0-1c68-36a4-ac64-09a03b60bebf": [ - "regular vehicle turning right", "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters", "city bus", - "car turning right", + "vehicle turning right with pedestrian in front", "bus with at least 3 pedestrians within 5 meters", - "vehicle with multiple bicycles ahead", + "vehicle turning right with pedestrian waiting", "bicycle following closely behind a vehicle", "ego vehicle near articulated bus", + "vehicle turning at intersection with nearby pedestrians", "car driving in bus lane", "vehicle two cars ahead is being crossed by a pedestrian" ], "5037a27d-95f5-352f-9c64-5b8e75f574b2": [ - "vehicle directly facing a moving pedestrian from 5-15 meters away", + "vehicle turning at intersection with nearby pedestrians", + "vehicle turning right with pedestrian in front", "pedestrian turning and watching the ego vehicle", - "pedestrian on intersection not using a crosswalk", - "jaywalking pedestrian", + "pedestrians over 30 meters away", "regular vehicle turning right", + "pedestrian to the back-right of the ego vehicle", + "vehicle being tailgated while approaching stopped traffic", "objects getting closer to the ego vehicle", - "parked vehicle", - "pedestrian facing toward ego vehicle", "pedestrian crossing in front of vehicle at crosswalk", "ego vehicle following vehicle that is being overtaken on the right" ], "a146ab19-f4f3-334f-b830-fc68de83e26c": [ - "vehicle traveling in the same direction as the ego vehicle", - "vehicle near multiple bollards", - "vehicle at intersection facing another vehicle", + "vehicle getting passed from the right", + "pedestrian walking alongside bollard", "object that hasn't moved", "pedestrian crossing between bollards", - "parked vehicle", + "pedestrian near bollard", "ego vehicle near bollard", "vehicle with multiple construction cones on the left side", + "vehicle to the back right of the ego vehicle", "vehicle accelerating more than two meters per second", "stopped vehicle facing a turning vehicle between 5-20 meters away" ], "118a1e87-aff4-35f5-aa38-01504a63ddce": [ "bus making right turn", - "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters", "bus in bus lane", "car driving in bus lane", + "pedestrian near construction cone", "bus with at least 3 pedestrians within 5 meters", "pedestrian walking alongside bollard", "ego vehicle approaching pedestrian at crosswalk", @@ -3564,37 +3564,37 @@ "objects getting closer to the ego vehicle" ], "8e02e2db-2836-37ec-af33-a1cc2e6e49dc": [ + "passenger vehicle swerving left", "bus with at least 3 pedestrians within 5 meters", + "passenger vehicle turning right", "bicycle behind a bus", "vehicle with multiple bicycles ahead", "bus with multiple pedestrians waiting on the right side", "bicycle following closely behind a vehicle", "bicycle near a bus", - "group of people", - "vehicle turning right with pedestrian waiting", "vehicle braking near pedestrian crossing", "bus in bus lane" ], "718a2f8d-954a-3cd8-89e6-43898cf21fee": [ - "jaywalking pedestrian", - "vehicle being crossed by a pedestrian", + "vehicle getting passed from the right", + "vehicle sharing a lane with another vehicle", + "vehicle facing toward parked vehicles", + "vehicle traveling in the opposite direction as the ego vehicle", "vehicle moving at crawling speed", - "stationary object", "vehicle to the back right of the ego vehicle", "accelerating passenger vehicle", - "pedestrians over 30 meters away", "vehicle traveling in the same direction as the ego vehicle", "making a left lane change while there is a vehicle to the right", "pedestrian walking between construction barriers with approaching vehicle" ], "6937b4e5-b5b4-3970-b5dd-9ad194e6c338": [ "bus with multiple pedestrians waiting on the right side", + "bicycle in same lane as a vehicle", "bicycle passing by parked vehicle", "bus with at least 3 pedestrians within 5 meters", "bus with another bus in its lane", "motorcycle between stopped vehicles", "bicycle near a bus", - "multiple buses within 50 meters ahead", "bicycle behind a bus", "ego vehicle approaching crossing pedestrians", "vehicle getting passed from the right" @@ -3612,73 +3612,73 @@ "pedestrian crossing between stopped buses" ], "8aaa2fac-59f9-3a3d-98ee-f3dde8b4d781": [ - "ego vehicle with parked bicycles ahead", - "pedestrian turning and watching the ego vehicle", - "vehicle turning right with pedestrian in front", - "bus with at least 3 pedestrians within 5 meters", + "vehicle being crossed by a pedestrian", + "pedestrian walking alongside bollard", "car driving in bus lane", "motorcyclist braking hard", + "pedestrians using designated crossing", "pedestrian near bollard", + "vehicle behind another vehicle that has a pedestrian on its right side", "pedestrian walking alongside stopped bus", "ego vehicle changing lanes to the left", "bus with multiple pedestrians waiting on the right side" ], "3576c0f5-c1b5-35bb-a0c4-ee95cba5c754": [ + "the vehicle two cars in front of the ego vehicle", "dog near an intersection", "vehicle two cars ahead is braking", - "vehicle accelerating on intersection", - "dog near pedestrian", - "ego vehicle near bollard", + "pedestrian walking with dog on sidewalk", + "pedestrian near bollard", "vehicle accelerating more than two meters per second", "dog on roadway", - "pedestrian on intersection not using a crosswalk", + "two cars back from the ego vehicle", "pedestrian with multiple dogs", "pedestrian near construction cone" ], "639d4834-f922-3e27-9913-20aa649f815d": [ + "vehicle turning right with pedestrian waiting", + "car turning right", "dog near an intersection", - "dog", + "vehicle two vehicles ahead is turning", "dog on roadway", "passenger vehicle turning left at intersection", - "dog near pedestrian", - "stopped vehicle facing a turning vehicle between 5-20 meters away", + "ego vehicle approaching pedestrian at crosswalk", "pedestrian turning and watching the ego vehicle", - "passenger vehicle turning right", "truck swerving near construction cones", "vehicle braking at pedestrian crossing" ], "e1f37027-6a39-3eb1-b38a-3f2836b84735": [ "vehicle moving at crawling speed", - "the vehicle two cars in front of the ego vehicle", - "vehicle behind another vehicle that has a pedestrian on its right side", - "vehicle changing lanes", - "vehicle accelerating aggressively", - "vehicle hard braking with another vehicle ahead", - "two cars back from the ego vehicle", + "at least active 2 vehicles within 15 meters behind ego vehicle", + "passenger vehicle swerving left", + "vehicle with multiple pedestrians to the left", + "motorcyclist", + "accelerating vehicle changing lanes to the right", "vehicle accelerating more than two meters per second", + "vehicle braking heavily", "pedestrian walking between two stopped vehicles", "group of people" ], "72ad5f22-3a9c-3758-81af-abda8181a622": [ + "motorcycle or pedestrian within 5 meters to the right", + "ego vehicle approaching crossing pedestrians", "motorcycle between stopped vehicles", "vehicle braking near jaywalking pedestrian or stroller", "pedestrian crossing ahead of ego vehicle", "multiple pedestrians crossing ahead", - "motorcycle between two vehicles", "pedestrian crossing in front of vehicle at crosswalk", "accelerating truck", - "vehicle stopped at a stop sign", "vehicle being tailgated while approaching stopped traffic", "bicycle in vehicle lane with vehicle" ], "71283e26-905b-3811-b9e0-c10c0253769b": [ - "vehicle two vehicles ahead is changing lanes", "vehicle passing school bus at stop", - "vehicle changing lanes to the right", + "ego vehicle following vehicle being overtaken on right", "bus changing lanes", - "vehicle being overtaken while approaching another vehicle", - "vehicle being overtaken on the right", + "vehicle approaching stopped vehicle at intersection", + "ego vehicle in dense traffic with lane-changing vehicles", "school bus at pedestrian crossing", + "making a left lane change while there is a vehicle to the right", "school bus on intersection", "stopped vehicle facing a turning vehicle between 5-20 meters away", "pedestrian crossing ahead of ego vehicle" @@ -3686,21 +3686,21 @@ "bffb0c9e-5e3a-3251-ab5e-299491b53cbf": [ "car driving in bus lane", "vehicle two vehicles ahead is being crossed by a pedestrian", + "stationary construction barrel", "stop sign behind a pedestrian", + "pedestrian on intersection not using a crosswalk", "pedestrian near stop sign", - "ego vehicle near construction barrel", + "vehicle accelerating aggressively", "bus in bus lane", - "bus within 5 meters to either side of ego vehicle", - "pedestrian crossing ahead of ego vehicle", "stopped vehicle facing a turning vehicle between 5-20 meters away", "vehicle with multiple construction cones on the left side" ], "271f4204-dd77-350b-b9db-5dabc4191985": [ "vehicle two vehicles ahead is turning", - "vehicle following another vehicle too closely", + "accelerating passenger vehicle", "vehicle accelerating on intersection", - "two cars back from the ego vehicle", "oncoming vehicle changing lanes", + "vehicle accelerating while changing lanes", "left lane change while there is a vehicle to the left", "vehicle accelerating more than two meters per second", "at least active 2 vehicles within 15 meters behind ego vehicle", @@ -3708,13 +3708,13 @@ "the vehicle two cars in front of the ego vehicle" ], "7ef4a6cc-7266-3a31-8dd4-01c3d3c58dcb": [ + "left lane change while there is a vehicle to the left", + "vehicle within 5 meters of a bicycle", + "box trucks within 10 meters of an intersection", + "vehicle being overtaken on the right", + "vehicle being followed by ego vehicle while being overtaken on right", "motorcyclist braking hard", - "a group of people", - "group of people", - "vehicle changing lanes", - "pedestrian facing toward ego vehicle", - "ego vehicle in dense traffic with lane-changing vehicles", - "ego vehicle with parked bicycles ahead", + "vehicle facing toward a pedestrian at a crosswalk", "vehicle with a bicycle to its right", "vehicle traveling over 20 meters per second", "bicycle facing toward moving traffic" @@ -3724,22 +3724,22 @@ "ego vehicle near construction cone", "vehicle at a stop sign", "any vehicle in front of stop sign", - "vehicle stopped at a stop sign", "vehicle two vehicles ahead is turning", "vehicle turning right at stop sign", "construction item on road", + "vehicle traveling in the same direction as the ego vehicle", "ego vehicle approaching intersection with a pedestrian crossing in front of multiple trucks", "bicycle near traffic cone" ], "4e302e79-1cb9-358f-a3fb-e133a655af4f": [ - "vehicle directly facing a moving pedestrian from 5-15 meters away", + "vehicle approaching pedestrians waiting at a crosswalk", "vehicle approaching multiple pedestrians at crosswalk", - "parked vehicle", - "vehicle with multiple pedestrians to the left", - "pedestrian on intersection not using a crosswalk", + "pedestrian to the back-right of the ego vehicle", + "wheeled device (e.g., golf cart, segway) sharing a lane with a moving vehicle", "bicycle traveling alongside parked vehicles", - "pedestrians over 30 meters away", - "motorcycle or pedestrian within 5 meters to the right of the ego vehicle", + "stopped vehicle facing a turning vehicle between 5-20 meters away", + "pedestrian approaching a parked vehicle", + "regular vehicle turning right", "wheeled rider crossing in front of vehicle at stop sign", "vehicle approaching and facing a stopped vehicle at an intersection" ], @@ -3747,21 +3747,21 @@ "truck changing lanes to the right", "vehicle passing truck with pedestrian crossing ahead", "bicycle on intersection", - "ego vehicle approaching crossing pedestrians", "bicycle sharing lane as a regular vehicle", - "truck on intersection", - "bicyclist on intersection", - "bicyclist riding in vehicle lane", + "vehicle accelerating towards pedestrian crossing", + "bicycle traveling with vehicle traffic", + "accelerating truck", + "bicycle facing toward moving traffic", "box truck in bike lane", "ego vehicle approaching cyclist in same lane" ], "f3d1e3c3-2770-3504-a592-b62619598812": [ + "vehicle two vehicles ahead is braking", "pedestrian crossing in front of vehicle at crosswalk", - "vehicle two cars ahead is braking", + "vehicle accelerating more than two meters per second", + "vehicle accelerating while changing lanes", "bus changing lanes", - "vehicle two cars ahead is changing lanes", "bus making right turn", - "ego vehicle in dense traffic with lane-changing vehicles", "vehicle two vehicles ahead is changing lanes", "bus within 5 meters to either side of ego vehicle", "ego vehicle near bollard", @@ -3769,109 +3769,109 @@ ], "cd83b7cd-e2e7-34f6-bee7-1ff5ca3ed665": [ "vehicle two vehicles ahead is braking", - "vehicle sharing a lane with another vehicle", - "accelerating passenger vehicle", - "ego vehicle near construction cone", - "the active vehicle in front of the vehicle ahead", - "ego vehicle two cars ahead of another vehicle", - "vehicle traveling in the same direction as the ego vehicle", - "vehicle to the back right of the ego vehicle", + "vehicle facing away from the ego vehicle", + "vehicle facing the ego vehicle", + "vehicle facing toward parked vehicles", + "vehicle crossing path of another vehicle", + "vehicle at intersection facing another vehicle", + "vehicle following another vehicle too closely", + "vehicle being passed on the left by another vehicle", "motorcycle overtaking a vehicle", "ego vehicle passing parked motorcycle" ], "6d3bfbc9-45dc-316e-a94c-a441371d0571": [ "bicyclist within 3 meters on either side", + "bicycle traveling with vehicle traffic", "bicycle in same lane as a vehicle", "moving bicycle directly to the left of the ego vehicle", "truck sharing a lane with another truck", - "object that hasn't moved", "bicycle traveling alongside parked vehicles", "bicycle passing by parked vehicle", - "bicycle in vehicle lane with vehicle", + "bicycle sharing lane as a regular vehicle", "making a left lane change while there is a vehicle to the right", "ego vehicle with parked bicycles ahead" ], "fb149ce0-7706-3bb5-9860-8c63d1c77592": [ - "motorcycle or pedestrian within 5 meters to the right", "truck sharing a lane with another truck", "moving pedestrian within 3 meters to the left of ego vehicle", - "bicycle following closely behind a vehicle", "pedestrian crossing between bollards", - "pedestrian near stop sign", + "vehicle navigating near multiple bicycles", + "bicycle facing toward a vehicle", + "bicycle facing toward moving traffic", "oncoming vehicle changing lanes", "stop sign behind a pedestrian", "bicyclist changing lanes to the right", "vehicle two cars ahead is changing lanes" ], "42c8449f-6e6d-3980-b54a-805eba6621c4": [ - "vehicle traveling in the same direction as the ego vehicle", - "ego vehicle following vehicle being overtaken on right", "vehicle getting passed from the right", - "objects getting closer to the ego vehicle", "vehicle approaching stopped vehicle at intersection", + "vehicle to the back right of the ego vehicle", "vehicle following another vehicle too closely", "at least active 2 vehicles within 15 meters behind ego vehicle", + "vehicle sharing a lane with another vehicle", + "stopped vehicle facing a turning vehicle between 5-20 meters away", "passenger vehicle turning left at intersection", "vehicle two vehicles ahead is turning", "the vehicle two cars in front of the ego vehicle" ], "8066e267-a653-3b43-8fce-a5a780912c82": [ "vehicle being followed by ego vehicle while being overtaken on right", - "vehicle being overtaken on the right", - "vehicle facing the ego vehicle", + "dog near an intersection", + "vehicle directly facing a moving pedestrian from 5-15 meters away", + "the vehicle two cars in front of the ego vehicle", "dog near pedestrian", - "accelerating passenger vehicle", - "vehicle facing away from the ego vehicle", "vehicle accelerating towards pedestrian crossing", "ego vehicle with vehicles on both sides", + "stopped car", "pedestrians using designated crossing", "ego vehicle approaching pedestrian at crosswalk" ], "105f47eb-491c-3cab-91af-83c5bc1f6c48": [ "dog", - "left lane change while there is a vehicle to the left", "truck without trailer", "bicycle facing toward moving traffic", - "bicycle passing by parked vehicle", "ego vehicle approaching pedestrian at crosswalk", "bicycle facing toward a vehicle", "dog near pedestrian", + "pedestrians using designated crossing", + "jaywalking pedestrian", "ego vehicle following vehicle being overtaken on right", "vehicle being crossed by a pedestrian" ], "e10475f7-0d56-3a75-870d-d4206fa165d7": [ + "active vehicle at stop sign", "vehicle two vehicles ahead is changing lanes", - "vehicle at a stop sign", "accelerating vehicle changing lanes to the right", - "vehicle following another vehicle too closely", + "vehicle accelerating while changing lanes", + "any vehicle in front of stop sign", "ego vehicle two cars ahead of another vehicle", "ego vehicle with vehicles on both sides", "making a left lane change while there is a vehicle to the right", - "vehicle accelerating on intersection", "vehicle changing lanes through bike lane", "stopped vehicle facing a turning vehicle between 5-20 meters away" ], "eb777faa-5b76-387e-a408-90524c6f2848": [ "vehicle braking at pedestrian crossing", - "pedestrian near construction cone", + "pedestrian crossing at bollard", "vehicle turning left at intersection while sharing lane with a bus", "vehicle turning left while pedestrian crosses at crosswalk", "vehicle accelerating aggressively", + "pedestrian walking alongside bollard", "ego vehicle merging between two regular vehicles", "pedestrian crossing between bollards", - "ego vehicle changing lanes to the right with a vehicle ahead", "vehicles approaching stopped school bus with children nearby", "bicycle and vehicle traveling in bike lane" ], "3e707e96-ad84-3e68-bea5-2f9ac502a2d9": [ + "vehicle making a right turn", "vehicle accelerating on intersection", - "stopped vehicle facing a turning vehicle between 5-20 meters away", - "at least active 2 vehicles within 15 meters behind ego vehicle", "any vehicle in front of stop sign", "car turning right", - "passenger vehicle turning right", - "the vehicle two cars in front of the ego vehicle", + "vehicle two vehicles ahead is turning", + "vehicle at intersection facing another vehicle", "vehicle at a stop sign", + "two cars back from the ego vehicle", "vehicle two cars ahead is braking", "vehicle being tailgated while approaching stopped traffic" ], @@ -3882,66 +3882,66 @@ "passenger vehicle turning right", "vehicle turning at intersection with nearby pedestrians", "pedestrian turning and watching the ego vehicle", - "vehicle turning right with pedestrian waiting", + "vehicle being tailgated while approaching stopped traffic", "stopped vehicle facing a turning vehicle between 5-20 meters away", "vehicle braking near pedestrian crossing", "ego vehicle in dense traffic with lane-changing vehicles" ], "f61bcee1-2964-3c4b-95a5-697df5f42f47": [ - "ego vehicle approaching pedestrian at crosswalk", + "ego vehicle approaching crossing pedestrians", "bicycle following closely behind a vehicle", "pedestrian crossing in front of vehicle at crosswalk", "stopped vehicles at intersection being crossed by pedestrians", - "pedestrian between moving vehicles on both sides", + "vehicle with multiple bicycles ahead", "pedestrian crossing ahead of ego vehicle", - "pedestrian near construction cone", + "multiple pedestrians crossing ahead", "the vehicle behind another vehicle being crossed by a jaywalking pedestrian", "vehicle two vehicles ahead is turning", "ego vehicle changing lanes to the right with a vehicle ahead" ], "8a11791c-1d8f-3b12-bacc-38aa982b0003": [ - "pedestrian near bollard", "group of people", "vehicle being crossed by a pedestrian", - "vehicle directly facing a moving pedestrian from 5-15 meters away", + "vehicle behind another vehicle that has a pedestrian on its right side", + "pedestrian walking alongside bollard", "vehicle with multiple construction cones on the left side", + "active vehicle at stop sign", "stationary object", "pedestrian crossing between bollards", - "the active vehicle in front of the vehicle ahead", "vehicle following another vehicle too closely", "vehicle braking at pedestrian crossing" ], "b8d83d8e-1574-3efd-b067-a3ed422a259e": [ "vehicle two vehicles ahead is braking", "construction item on road", - "vehicle changing lanes while on an intersection", - "vehicle being overtaken on the right", + "vehicle sharing a lane with another vehicle", "vehicle in close proximity to bicycle", "vehicle within 5 meters of a bicycle", "making a left lane change while there is a vehicle to the right", + "stationary construction barrel", "ego vehicle changing lanes to the right with a vehicle ahead", "ego vehicle near construction cone", "vehicle approaching and facing a stopped vehicle at an intersection" ], "38f30522-2d43-3ff3-a94b-84887ab1671d": [ - "motorcycle or pedestrian within 5 meters to the right", - "two cars back from the ego vehicle", - "the vehicle two cars in front of the ego vehicle", - "vehicle to the back right of the ego vehicle", - "vehicle two cars ahead is changing lanes", - "vehicle sharing a lane with another vehicle", - "stopped car", - "left lane change while there is a vehicle to the left", - "motorcycle overtaking a vehicle", - "vehicle approaching and facing a stopped vehicle at an intersection" + "pedestrian crossing in front of vehicle at crosswalk", + "multiple pedestrians crossing ahead", + "vehicle approaching pedestrians waiting at a crosswalk", + "ego vehicle approaching pedestrian at crosswalk", + "vehicle facing and accelerating toward pedestrian on road", + "vehicle turning right with pedestrian in front", + "ego vehicle approaching crossing pedestrians", + "vehicle facing and heading toward pedestrian group", + "bicycle facing toward moving traffic", + "vehicle accelerating towards pedestrian crossing" ], "5d9c1080-e6e9-3222-96a2-37ca7286a874": [ + "vehicle turning at intersection with nearby pedestrians", "vehicle being tailgated while approaching stopped traffic", - "stationary object", - "car turning right", + "vehicle turning right with pedestrian in front", + "vehicle facing the ego vehicle", "vehicle turning right with pedestrian waiting", "objects getting closer to the ego vehicle", - "stopped vehicle facing a turning vehicle between 5-20 meters away", "pedestrian on road not facing traffic", "vehicle making a right turn", "moving bicycle directly to the left of the ego vehicle", @@ -3949,9 +3949,9 @@ ], "c730e199-fb8d-3abf-b7aa-bbc81bf8c08f": [ "pedestrian in front of a bicyclist who is to the left of a vehicle", + "bicycle sharing lane as a regular vehicle", "moving bicycle directly to the left of the ego vehicle", "bicycle passing by parked vehicle", - "bicyclist on intersection", "vehicle surrounded by bicycles on all sides", "bicycle traveling against traffic", "bicyclist within 3 meters on either side", @@ -3961,49 +3961,49 @@ ], "194b6c89-8060-3174-b402-308f72cb1c15": [ "vehicle near multiple bollards", - "stop sign behind a pedestrian", + "two cars back from the ego vehicle", "the active vehicle in front of the vehicle ahead", - "pedestrians over 30 meters away", - "ego vehicle near construction cone", + "vehicle two cars ahead is braking", "vehicle behind another vehicle that has a pedestrian on its right side", + "the vehicle two cars behind the ego vehicle", "vehicle accelerating on intersection", - "jaywalking pedestrian", + "turning left", "ego vehicle approaching pedestrian at crosswalk", "pedestrian to the back-right of the ego vehicle" ], "e0d2fe70-8f98-3ce2-8d8f-4268a81f7169": [ "bicycle in same lane as a vehicle", + "pedestrian facing toward the bus", "bus in bus lane", "car driving in bus lane", + "moving bus to the front-left of the ego vehicle", "car following closely behind bicyclist", "bicycle traveling with vehicle traffic", - "bicycle facing toward a vehicle", - "bicycle facing toward moving traffic", "pedestrian in front of a bicyclist who is to the left of a vehicle", "bicycle near a bus", "vehicle traveling over 20 meters per second" ], "49d76058-b4f0-3931-86fa-de160b4c1b88": [ "vehicle sharing a lane with another vehicle", - "vehicle directly facing a moving pedestrian from 5-15 meters away", - "vehicle moving at crawling speed", - "vehicle facing toward parked vehicles", + "vehicle following another vehicle too closely", "accelerating passenger vehicle", - "vehicle being overtaken while approaching another vehicle", - "pedestrian facing toward ego vehicle", + "ego vehicle following vehicle being overtaken on right", "pedestrian facing toward the bus", + "at least active 2 vehicles within 15 meters behind ego vehicle", + "vehicle being tailgated while approaching stopped traffic", + "vehicle facing away from the ego vehicle", "vehicle approaching and facing a stopped vehicle at an intersection", "active vehicle at stop sign" ], "b2a8a9aa-19cd-3ffd-b02c-0f2a47d1d0eb": [ - "any vehicle in front of stop sign", "vehicle stopped at a stop sign", - "object that hasn't moved", + "vehicle two vehicles ahead is braking", "active vehicle at stop sign", - "stationary object", "vehicle at a stop sign", - "parked vehicle", - "vehicle behind another vehicle that has a pedestrian on its right side", + "a group of people", + "the vehicle two cars behind the ego vehicle", + "making a left lane change while there is a vehicle to the right", + "group of people", "vehicle being tailgated while approaching stopped traffic", "ego vehicle approaching crossing pedestrians" ], @@ -4011,9 +4011,9 @@ "stroller", "bus with multiple pedestrians waiting on the right side", "bicycle near traffic cone", - "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters", + "vehicle braking near jaywalking pedestrian or stroller", "pedestrians using designated crossing", - "ego vehicle approaching pedestrian at crosswalk", + "pedestrian walking alongside bollard", "pedestrian walking with stroller", "pedestrian walking alongside stopped bus", "bicycle traveling against traffic", @@ -4033,36 +4033,36 @@ ], "ce34ff64-0faa-3fae-a79e-985f7a5172c9": [ "ego vehicle following vehicle that is being overtaken on the right", - "the vehicle two cars in front of the ego vehicle", "school bus at pedestrian crossing", - "the vehicle two cars behind the ego vehicle", + "two cars back from the ego vehicle", "vehicle changing lanes while in bike lane", "school bus on intersection", + "ego vehicle near bollard", + "ego vehicle near construction cone", "vehicle changing lanes through bike lane", - "pedestrian walking alongside bollard", "vehicle two cars ahead is being crossed by a pedestrian", "ego vehicle merging between two regular vehicles" ], "441871a2-a9c5-3048-b7e9-d88af5acb8f1": [ - "vehicle being tailgated while approaching stopped traffic", "vehicle making a right turn", "passenger vehicle turning left at intersection", - "regular vehicle turning right", - "left lane change while there is a vehicle to the left", + "stopped vehicle facing a turning vehicle between 5-20 meters away", "vehicle passing truck with pedestrian crossing ahead", - "vehicle at intersection facing another vehicle", - "vehicle approaching stopped vehicle at intersection", + "vehicle following another vehicle too closely", + "passenger vehicle turning right", + "car turning right", + "vehicle being passed on the left by another vehicle", "truck sharing a lane with another truck", "moving bus to the front-left of the ego vehicle" ], "d6ba4898-1369-3521-981c-b9ac57420418": [ + "vehicle facing toward parked vehicles", "bicycle facing toward a vehicle", "object that hasn't moved", - "stationary object", - "dog", - "ego vehicle near construction cone", + "vehicle traveling in the same direction as the ego vehicle", "vehicle facing the ego vehicle", - "dog near pedestrian", + "vehicle to the back right of the ego vehicle", + "vehicle with multiple pedestrians to the left", "vehicle facing away from the ego vehicle", "pedestrian crossing ahead of ego vehicle", "vehicle following another vehicle too closely" @@ -4071,20 +4071,20 @@ "pedestrian near stop sign", "pedestrian with multiple dogs", "vehicle braking near pedestrian crossing", - "dog", + "the vehicle behind another vehicle being crossed by a jaywalking pedestrian", "vehicle braking at pedestrian crossing", + "stop sign behind a pedestrian", "truck on intersection", - "accelerating vehicle changing lanes to the right", "stopped vehicles at intersection being crossed by pedestrians", "pedestrian near construction cone", "motorcycle at stop sign" ], "a3f59292-ad1d-370a-afde-64a9e16b341c": [ - "any vehicle in front of stop sign", + "vehicle turning right with pedestrian in front", + "vehicle at a stop sign", + "vehicle near construction barrel", "active vehicle at stop sign", "vehicle turning right with pedestrian waiting", - "stationary construction barrel", - "stop sign behind a pedestrian", "vehicle within 5 meters of a bicycle", "ego vehicle changing lanes to the left", "pedestrian near stop sign", @@ -4098,16 +4098,16 @@ "bicycle crossing vehicle path at intersection", "vehicle turning left with a bicycle in front of it", "ego vehicle approaching cyclist in same lane", - "car following closely behind bicyclist", "vehicle turning left while bicycle crosses from right", + "ego vehicle following vehicle being overtaken on right", "bus within 5 meters to either side of ego vehicle", "ego vehicle following bicycle closely" ], "a160c635-aa67-352c-a5e6-03b113493090": [ + "regular vehicle turning right", "group of pedestrians ahead of the ego vehicle", - "vehicle braking heavily", "a group of people", - "vehicle two vehicles ahead is turning", + "vehicle turning right with pedestrian waiting", "ego vehicle changing lanes to the right with a vehicle ahead", "vehicle accelerating towards pedestrian crossing", "pedestrian walking alongside stopped bus", @@ -4116,46 +4116,46 @@ "articulated bus in the same lane as a wheeled device" ], "3844f8a9-b7d4-4919-8e9b-a0370ad29ec0": [ - "regular vehicle turning right", + "vehicle turning right with pedestrian waiting", + "vehicle at a stop sign", "vehicle stopped at a stop sign", "bicycle passing by parked vehicle", "bicycle facing toward moving traffic", "vehicle turning right at stop sign", - "bicyclist riding in vehicle lane", + "bicycle traveling alongside parked vehicles", "ego vehicle near bollard", - "bicycle facing toward a vehicle", "bicycle being overtaken", "group of at least 3 moving bicyclists within 5 meters of each other" ], "f4d1a3c3-5002-336b-a67f-775b3725237e": [ "vehicle two vehicles ahead is being crossed by a pedestrian", - "pedestrian walking alongside bollard", "vehicle with multiple bicycles ahead", - "pedestrian near bollard", "railed vehicle", - "pedestrian crossing in front of vehicle at crosswalk", "ego vehicle near bollard", + "vehicle two vehicles ahead is changing lanes", + "vehicle two cars ahead is being crossed by a pedestrian", "stopped vehicles at intersection being crossed by pedestrians", + "vehicle two cars ahead is changing lanes", "bicycle on intersection", "vehicle turning right with pedestrian waiting" ], "a98c14bf-bf01-3ae5-992d-ea9f0a18e3c7": [ "passenger vehicle swerving left", "vehicle in close proximity to bicycle", - "making a left lane change while there is a vehicle to the right", - "ego vehicle following vehicle being overtaken on right", + "ego vehicle near construction cone", + "vehicle two cars ahead is changing lanes", "pedestrian walking with dog on sidewalk", - "group of pedestrians ahead of the ego vehicle", - "vehicle being overtaken on the left", - "vehicle at a stop sign", + "any vehicle in front of stop sign", + "vehicle with a bicycle to its right", + "vehicle facing toward a pedestrian at a crosswalk", "vehicle approaching multiple pedestrians at crosswalk", "the vehicle behind another vehicle being crossed by a jaywalking pedestrian" ], "6dc6e668-549e-33b8-b952-ed8e807b1d48": [ - "bus changing lanes", "bicycle near a bus", + "bus with at least 3 pedestrians within 5 meters", + "pedestrian facing toward the bus", "bicycle near traffic cone", - "vehicle changing lanes to the right", "pedestrian crossing in front of vehicle at crosswalk", "group of three people", "multiple buses within 50 meters ahead", @@ -4166,12 +4166,12 @@ "b8ce75e5-c1d2-3447-9249-70ab3d42389f": [ "vehicle with a bicycle to its right", "motorcycle or pedestrian within 5 meters to the right", + "pedestrian walking past right side of vehicle", + "vehicle near multiple bollards", "ego vehicle with vehicles on both sides", + "pedestrians facing each other at close range, possibly conversing", "motorcycle or pedestrian within 5 meters to the right of the ego vehicle", "a group of people", - "vehicle navigating near multiple bicycles", - "vehicle two vehicles ahead is braking", - "vehicle within 5 meters of a bicycle", "pedestrian approaching a parked vehicle", "group of three people" ], @@ -4181,8 +4181,8 @@ "vehicle turning left while pedestrian crosses at crosswalk", "truck sharing a lane with another truck", "truck changing lanes to the right", - "vehicle passing truck with pedestrian crossing ahead", "bus with multiple pedestrians waiting on the right side", + "vehicle turning left at intersection while sharing lane with a bus", "truck in the same lane as a bus", "vehicle getting passed from the right", "moving bus to the front-left of the ego vehicle" @@ -4190,11 +4190,11 @@ "3b60751b-7a71-3a47-a743-96b96f0d9b2b": [ "bus in bus lane", "car driving in bus lane", + "pedestrian walking with stroller", "stroller", "pedestrian crossing at bollard", "vehicle turning left while pedestrian crosses at crosswalk", "bus with multiple pedestrians waiting on the right side", - "bus with at least 3 pedestrians within 5 meters", "vehicle braking near jaywalking pedestrian or stroller", "unattended stroller", "bus with multiple strollers in front" @@ -4202,12 +4202,12 @@ "f6350a4f-eee8-31bd-8520-28f9c81c98a8": [ "unattended stroller", "bicycle near a bus", + "vehicle at a stop sign", "bicycle behind a bus", - "multiple buses within 50 meters ahead", - "vehicle braking near jaywalking pedestrian or stroller", - "pedestrian facing toward the bus", + "moving bus to the front-left of the ego vehicle", + "bus within 5 meters to either side of ego vehicle", "bus with multiple strollers in front", - "vehicle navigating near multiple bicycles", + "bus with at least 3 pedestrians within 5 meters", "ego vehicle approaching stroller or wheelchair user at pedestrian crossing", "bicyclist changing lanes to the right" ], @@ -4216,32 +4216,32 @@ "motorcyclist", "multiple motorcycles ahead of the ego vehicle", "ego vehicle with vehicles on both sides", - "pedestrian near bollard", - "motorcycle or pedestrian within 5 meters to the right of the ego vehicle", + "motorcycle or pedestrian within 5 meters to the right", + "vehicle facing the ego vehicle", "motorcyclist braking hard", "pedestrian crossing between bollards", "vehicle two cars ahead is changing lanes", "group of people" ], "63f32613-2856-4ab0-898d-f881d74eb8bf": [ - "a group of people", + "stationary object", "vehicle facing away from the ego vehicle", - "vehicle facing toward parked vehicles", - "object that hasn't moved", + "pedestrian on intersection not using a crosswalk", + "truck on intersection", "vehicle facing the ego vehicle", - "pedestrian near construction cone", "vehicle directly facing a moving pedestrian from 5-15 meters away", "vehicle changing lanes", + "pedestrian walking past right side of vehicle", "vehicle being overtaken on the right", "pedestrian crossing between bollards" ], "e743b441-ea8a-36d7-8124-f14dfa13a0e6": [ + "vehicle with multiple pedestrians to the left", + "vehicle being passed on the left by another vehicle", "making a left lane change while there is a vehicle to the right", - "the vehicle behind another vehicle being crossed by a jaywalking pedestrian", "vehicle braking near jaywalking pedestrian or stroller", - "pedestrian walking past right side of vehicle", "vehicle moving at crawling speed", - "bus with at least 3 pedestrians within 5 meters", + "vehicle directly facing a moving pedestrian from 5-15 meters away", "vehicle two cars ahead is being crossed by a pedestrian", "pedestrian between moving vehicles on both sides", "bicycle following closely behind a vehicle", @@ -4249,11 +4249,11 @@ ], "806d3ab3-4c53-30d6-ba6a-09ef6df5af5a": [ "vehicle within 5 meters of a bicycle", - "vehicle in close proximity to bicycle", - "vehicle facing away from the ego vehicle", + "stationary construction barrel", + "ego vehicle with parked bicycles ahead", "left lane change while there is a vehicle to the left", - "making a left lane change while there is a vehicle to the right", - "vehicle facing the ego vehicle", + "stop sign behind a pedestrian", + "jaywalking pedestrian", "vehicle with a bicycle to its right", "pedestrian near stop sign", "at least active 2 vehicles within 15 meters behind ego vehicle", @@ -4266,120 +4266,121 @@ "vehicle following another vehicle too closely", "a group of people", "bicycle near traffic cone", - "ego vehicle with vehicles on both sides", "pedestrians facing each other at close range, possibly conversing", - "left lane change while there is a vehicle to the left", - "vehicles being passed by a motorcycle on either side" + "passenger vehicle turning left at intersection", + "bicycle in same lane as a vehicle", + "vehicle passing bicycle near mobile pedestrian sign" ], "79f3de22-c643-3e97-96d5-f77274a458c0": [ + "vehicle with multiple pedestrians to the left", "ego vehicle approaching pedestrian at crosswalk", - "vehicle getting passed from the right", "vehicle turning right with pedestrian waiting", - "vehicle moving at crawling speed", - "vehicle two vehicles ahead is turning", + "vehicle directly facing a moving pedestrian from 5-15 meters away", "vehicle turning right with pedestrian in front", - "vehicle making a right turn", + "vehicle traveling in the same direction as the ego vehicle", "vehicle turning at intersection with nearby pedestrians", + "ego vehicle following vehicle being overtaken on right", "passenger vehicle turning right", "ego vehicle approaching intersection with a pedestrian crossing in front of multiple trucks" ], "545ea917-a910-3013-a3f1-52a86dd6c8b1": [ - "the vehicle two cars in front of the ego vehicle", - "two cars back from the ego vehicle", - "bicyclist riding in vehicle lane", + "vehicle at intersection facing another vehicle", + "objects getting closer to the ego vehicle", + "passenger vehicle turning left at intersection", "vehicle passing stopped truck with pedestrian nearby", "pedestrian on road not facing traffic", - "ego vehicle approaching stopped delivery truck", "vehicle maneuvering between construction barriers", "vehicle being tailgated while approaching stopped traffic", + "pedestrian crossing in front of cyclist near intersection", "vehicle accelerating while changing lanes", "stopped vehicles at intersection being crossed by pedestrians" ], "49e970c4-7364-33cb-a298-ead218e9a705": [ + "bicycle in same lane as a vehicle", "dog", - "vehicle turning right with pedestrian in front", - "regular vehicle turning right", - "passenger vehicle turning right", - "vehicle two vehicles ahead is turning", + "ego vehicle with vehicles on both sides", + "pedestrian walking past right side of vehicle", "stopped vehicle facing a turning vehicle between 5-20 meters away", "car turning right", + "at least active 2 vehicles within 15 meters behind ego vehicle", "passenger vehicle turning left at intersection", - "pedestrian crossing ahead of ego vehicle", - "box truck changing lanes to the left" + "ego vehicle approaching stopped truck", + "pedestrian crossing ahead of ego vehicle" ], "62a1e53b-b55c-36c2-bc5b-e216d494875a": [ "pedestrian to the left of a truck", - "pedestrian crossing in front of vehicle at crosswalk", - "pedestrian turning and watching the ego vehicle", "vehicle passing near person in wheelchair", "pedestrian with wheelchair at crosswalk", + "vehicle turning at intersection with nearby pedestrians", "vehicle turning left while pedestrian crosses at crosswalk", + "vehicle turning right with pedestrian waiting", "truck sharing a lane with another truck", - "stopped vehicle facing a turning vehicle between 5-20 meters away", + "vehicle two vehicles ahead is turning", "ego vehicle approaching construction barrels with a vehicle turning right ahead", "wheelchair user at pedestrian crossing" ], "05853f69-f948-3d04-8d64-d4e721c0e1a5": [ - "bus making right turn", "group of three people", + "ego vehicle near construction cone", "vehicle turning left at intersection while sharing lane with a bus", "ego vehicle approaching stopped delivery truck", "ego vehicle following vehicle that is being overtaken on the right", "vehicle passing stopped truck with pedestrian nearby", "box truck braking in front of ego vehicle", - "vehicle two cars ahead is changing lanes", + "parked box trucks", "bicycle traveling with vehicle traffic", "pedestrian approaching a parked vehicle" ], "823371b1-3197-35d6-a6b7-bfd432e10440": [ "passenger vehicle turning right", - "accelerating truck", "passenger vehicle turning left at intersection", "active vehicle at stop sign", - "pedestrian walking alongside bollard", - "parked vehicle", + "object that hasn't moved", + "box trucks within 10 meters of an intersection", + "vehicle facing the ego vehicle", + "vehicle turning right with pedestrian in front", "vehicle turning right at stop sign", - "pedestrian near bollard", "ego vehicle with vehicles on both sides", "vehicle two vehicles ahead is being crossed by a pedestrian" ], "841fe537-5e76-3b3a-8298-75fa1a41a14b": [ - "vehicle being followed by ego vehicle while being overtaken on right", + "active vehicle at stop sign", "pedestrian facing toward ego vehicle", "motorcyclist", - "vehicle traveling in the same direction as the ego vehicle", "vehicle getting passed from the right", - "vehicle being passed on the left by another vehicle", + "vehicle directly facing a moving pedestrian from 5-15 meters away", "ego vehicle near bollard", - "vehicle being overtaken on the right", + "motorcycle or pedestrian within 5 meters to the right of the ego vehicle", + "parked vehicle", "vehicle accelerating towards pedestrian crossing", "vehicle with multiple bicycles ahead" ], "eb222d5d-0052-3ce7-9b87-19e09054a2c0": [ + "bicycle on intersection", "vehicle stopped at construction barrel", - "stopped vehicles at intersection being crossed by pedestrians", + "the vehicle behind another vehicle being crossed by a jaywalking pedestrian", "vehicle with multiple bicycles ahead", - "ego vehicle near construction barrel", "vehicle two vehicles ahead is changing lanes", - "moving pedestrian within 3 meters to the left of ego vehicle", "vehicle two cars ahead is changing lanes", "group of three people", + "motorcycle between stopped vehicles", "bicycle behind a bus", "vehicle two vehicles ahead is being crossed by a pedestrian" ], "988ab841-c422-3d08-bb52-a09f8fdb6ab2": [ - "object that hasn't moved", + "the vehicle two cars behind the ego vehicle", "ego vehicle in dense traffic with lane-changing vehicles", - "vehicle to the back right of the ego vehicle", + "pedestrians using designated crossing", "vehicle traveling in the same direction as the ego vehicle", "ego vehicle approaching pedestrian at crosswalk", - "vehicle two vehicles ahead is braking", "vehicle traveling in the opposite direction as the ego vehicle", + "vehicle facing toward a pedestrian at a crosswalk", "ego vehicle two cars ahead of another vehicle", "pedestrian crossing ahead of ego vehicle", "bus in bus lane" ], "2fff4135-98ec-3b82-a330-b73d8afdf36c": [ + "vehicle turning right with pedestrian waiting", "motorcycle near construction cone", "pedestrian near construction cone", "vehicle braking near jaywalking pedestrian or stroller", @@ -4387,7 +4388,6 @@ "lane splitting motorcycle", "unattended stroller", "stroller", - "vehicle approaching stopped vehicle at intersection", "vehicle turning while pedestrian crosses with stroller", "passenger vehicle near stroller in road" ], @@ -4396,9 +4396,9 @@ "vehicle braking near pedestrian crossing", "vehicle braking at pedestrian crossing", "bus in bus lane", + "car following closely behind bicyclist", "motorcyclist", "box trucks within 10 meters of an intersection", - "moving bus to the front-left of the ego vehicle", "bicycle passing by parked vehicle", "ego vehicle following vehicle that is being overtaken on the right", "lane splitting motorcycle" @@ -4408,82 +4408,82 @@ "bicycle near traffic cone", "bicycle sharing lane as a regular vehicle", "bicyclist riding in vehicle lane", - "bicyclist on intersection", + "ego vehicle in dense traffic with lane-changing vehicles", + "bicycle traveling with vehicle traffic", "truck without trailer", - "bicycle on intersection", "truck changing lanes to the right", "vehicle passing bicycle near mobile pedestrian sign", "vehicle approaching stopped vehicle at intersection" ], "caabc342-aed4-3104-8195-7461a4add481": [ - "vehicle traveling in the opposite direction as the ego vehicle", + "two cars back from the ego vehicle", + "vehicle following another vehicle too closely", + "stationary object", + "the vehicle two cars in front of the ego vehicle", + "vehicle facing the ego vehicle", + "vehicle facing away from the ego vehicle", "the active vehicle in front of the vehicle ahead", - "vehicle to the back right of the ego vehicle", - "vehicle two vehicles ahead is braking", - "vehicle traveling in the same direction as the ego vehicle", - "jaywalking pedestrian", - "ego vehicle with vehicles on both sides", - "vehicle moving at crawling speed", + "vehicle at intersection facing another vehicle", "vehicle approaching stopped vehicle at intersection", "vehicle two cars ahead is being crossed by a pedestrian" ], "dc3d4b79-6cd8-324b-bc70-cbd0e2a066da": [ + "vehicle two vehicles ahead is braking", "vehicle with multiple construction cones on the left side", - "turning left", - "the vehicle two cars in front of the ego vehicle", - "vehicle hard braking with another vehicle ahead", - "vehicle following another vehicle too closely", - "vehicle being followed by ego vehicle while being overtaken on right", - "two cars back from the ego vehicle", + "ego vehicle two cars ahead of another vehicle", + "object that hasn't moved", + "vehicle two cars ahead is braking", "truck without trailer", + "regular vehicles that are stopped or nearly stopped", + "vehicle traveling in the opposite direction as the ego vehicle", "group of three people", "truck cab with trailer sharing lane with regular vehicle" ], "74dd5c1d-7a9a-32d1-903a-fc57e07109b9": [ "regular vehicles that are stopped or nearly stopped", - "stopped vehicle facing a turning vehicle between 5-20 meters away", + "stationary object", + "group of people", "car turning right", - "pedestrians over 30 meters away", - "vehicle making a right turn", + "vehicle turning right with pedestrian in front", "stopped car", - "vehicle turning at intersection with nearby pedestrians", + "passenger vehicle turning right", "vehicle turning right with pedestrian waiting", "vehicle with multiple construction cones on the left side", "vehicle with a bicycle to its right" ], "98fd128c-4f32-40fc-a23c-7feb50c4478a": [ + "bicyclist riding in vehicle lane", "box truck near at least 3 construction cones", - "box trucks within 10 meters of an intersection", - "bicyclist on intersection", "box truck with multiple construction cones to its right", "car following closely behind bicyclist", "ego vehicle with box truck ahead and motorcycle behind", "box truck braking in front of ego vehicle", + "bicycle on intersection", "ego vehicle following vehicle that is being overtaken on the right", "active vehicle at stop sign", "vehicle turning right with pedestrian in front" ], "285dcef7-9f00-3c9c-baca-6c8269210ac4": [ - "ego vehicle near construction barrel", "construction item on road", + "vehicle stopped at construction barrel", "vehicle with multiple construction cones on the left side", "construction barrel with at least 2 construction cones within 3 meters", "stationary construction barrel", - "pedestrian near stop sign", + "pedestrians facing each other at close range, possibly conversing", "pedestrian turning and watching the ego vehicle", "vehicle maneuvering between construction barriers", "vehicle within 5 meters of a bicycle", "bicycle facing toward a vehicle" ], "069cc46d-38bb-309d-88cf-296a3d0c0820": [ + "vehicle two cars ahead is being crossed by a pedestrian", "pedestrian crossing in front of vehicle at crosswalk", - "ego vehicle with vehicles on both sides", - "vehicle braking heavily", + "vehicle hard braking with another vehicle ahead", "making a left lane change while there is a vehicle to the right", + "left lane change while there is a vehicle to the left", "ego vehicle changing lanes to the left", - "any vehicle in front of stop sign", + "vehicle being crossed by a pedestrian", "vehicle two vehicles ahead is being crossed by a pedestrian", - "vehicle at a stop sign", "vehicle braking near pedestrian crossing", "vehicle between two bicycles while on pedestrian crossing" ], @@ -4491,32 +4491,32 @@ "vehicle two cars ahead is being crossed by a pedestrian", "vehicle braking near pedestrian crossing", "making a left lane change while there is a vehicle to the right", - "pedestrian walking alongside bollard", + "vehicle with a bicycle to its right", "vehicle braking at pedestrian crossing", - "vehicle navigating near multiple bicycles", - "pedestrians using designated crossing", - "pedestrian near construction cone", + "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters", + "left lane change while there is a vehicle to the left", + "vehicle near multiple bollards", "vehicle two vehicles ahead is turning", "passenger vehicle turning right" ], "7da33189-2698-3a98-b038-b0e5a271ee96": [ - "group of people", "ego vehicle with parked bicycles ahead", + "vehicle navigating near multiple bicycles", + "vehicle two cars ahead is changing lanes", "left lane change while there is a vehicle to the left", - "vehicle changing lanes", "passenger vehicle swerving left", - "ego vehicle following vehicle being overtaken on right", - "vehicle approaching stopped vehicle at intersection", + "vehicle changing lanes to the right", + "vehicle facing toward a pedestrian at a crosswalk", "ego vehicle following vehicle that is being overtaken on the right", "bicycle and vehicle traveling in bike lane", "vehicle being tailgated while approaching stopped traffic" ], "e40d67c5-3749-397e-aa2a-7dfe576a31b0": [ - "vehicle two cars ahead is changing lanes", + "vehicle stopped at construction barrel", "vehicle two vehicles ahead is being crossed by a pedestrian", "construction barrel with at least 2 construction cones within 3 meters", "wheeled device (e.g., golf cart, segway) sharing a lane with a moving vehicle", - "vehicle facing toward a pedestrian at a crosswalk", + "vehicle hard braking with another vehicle ahead", "ego vehicle following vehicle that is being overtaken on the right", "vehicle two cars ahead is braking", "construction item on road", @@ -4524,14 +4524,14 @@ "multiple buses within 50 meters ahead" ], "fdc0f552-4976-36a6-8691-9a8c6a5ba389": [ - "truck on intersection", + "vehicle braking heavily", "pedestrian walking with dog on sidewalk", - "ego vehicle with parked bicycles ahead", + "accelerating truck", "vehicle passing truck with pedestrian crossing ahead", - "vehicle accelerating more than two meters per second", - "ego vehicle two cars ahead of another vehicle", "vehicle accelerating on intersection", "dog on roadway", + "dog near an intersection", + "vehicle crossing path of another vehicle", "ego vehicle following bicycle closely", "vehicle braking at pedestrian crossing" ], @@ -4541,19 +4541,19 @@ "passenger vehicle near stroller in road", "ego vehicle near stroller on sidewalk", "moving pedestrian within 3 meters to the left of ego vehicle", - "multiple pedestrians crossing ahead", - "pedestrian walking with stroller", + "bus with at least 3 pedestrians within 5 meters", "car with a stroller to its left", + "stroller", "vehicle changing lanes while on an intersection", "vehicle being overtaken while approaching another vehicle" ], "9eb87a0b-2457-359d-b958-81e8583d8e44": [ + "vehicle accelerating aggressively", "bus with another bus in its lane", "bicycle sharing lane as a regular vehicle", "bicycle crossing vehicle path at intersection", - "bicyclist riding in vehicle lane", "bicycle near a bus", - "multiple buses within 50 meters ahead", + "bicycle in same lane as a vehicle", "bus with at least 3 pedestrians within 5 meters", "bicycle behind a bus", "vehicle being tailgated while approaching stopped traffic", @@ -4561,109 +4561,109 @@ ], "b8a5a7a9-1c4f-4f2e-96a6-565e727b24d0": [ "wheeled device (e.g., golf cart, segway) sharing a lane with a moving vehicle", - "pedestrians over 30 meters away", - "pedestrian facing toward ego vehicle", + "vehicle facing the ego vehicle", "ego vehicle near construction cone", "pedestrian near construction cone", - "stationary object", + "vehicle traveling in the same direction as the ego vehicle", "pedestrian walking past right side of vehicle", "vehicle facing toward parked vehicles", + "vehicle facing away from the ego vehicle", "bus in bus lane", "vehicle accelerating more than two meters per second" ], "7c539ecc-658a-3956-a9a4-6e7f5bd67373": [ "semi truck within 30 meters ahead of ego vehicle", - "ego vehicle near construction cone", "moving pedestrian within 3 meters to the left of ego vehicle", - "ego vehicle with parked bicycles ahead", - "oncoming vehicle changing lanes", - "truck without trailer", - "jaywalking pedestrian", + "regular vehicles that are stopped or nearly stopped", "pedestrian walking alongside bollard", - "truck cab with trailer sharing lane with regular vehicle", - "moving bicycle directly to the left of the ego vehicle" + "ego vehicle approaching crossing pedestrians", + "stopped car", + "pedestrian crossing ahead of ego vehicle", + "pedestrians over 30 meters away", + "moving bicycle directly to the left of the ego vehicle", + "vehicle turning right with pedestrian waiting" ], "945f3b20-778a-3581-adef-544de4a089ef": [ - "ego vehicle near construction cone", + "group of people", "vehicle near multiple bollards", + "a group of people", + "vehicle accelerating towards pedestrian crossing", "pedestrians facing each other at close range, possibly conversing", "vehicle accelerating aggressively", "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters", - "pedestrians using designated crossing", - "vehicle facing toward a pedestrian at a crosswalk", - "ego vehicle with vehicles on both sides", + "vehicle being overtaken on the left", "vehicle accelerating while changing lanes", "ego vehicle near bollard" ], "74648e09-358d-3183-9b40-278620befa40": [ - "stationary object", + "vehicle to the back right of the ego vehicle", + "moving bus to the front-left of the ego vehicle", "object that hasn't moved", + "vehicle facing away from the ego vehicle", "vehicle sharing a lane with another vehicle", - "regular vehicles that are stopped or nearly stopped", "vehicle traveling in the same direction as the ego vehicle", - "stopped car", + "accelerating passenger vehicle", "vehicle traveling in the opposite direction as the ego vehicle", - "parked vehicle", "car turning right", "ego vehicle approaching crossing pedestrians" ], "7c30c3fc-ea17-38d8-9c52-c75ccb112253": [ - "vehicle two cars ahead is braking", - "vehicle facing the ego vehicle", - "vehicle moving at crawling speed", + "object that hasn't moved", "motorcyclist braking hard", - "ego vehicle following vehicle being overtaken on right", - "accelerating passenger vehicle", + "parked vehicle", + "ego vehicle with parked bicycles ahead", "vehicle getting passed from the right", - "vehicle changing lanes", + "oncoming vehicle changing lanes", + "vehicle being overtaken on the right", + "vehicle traveling in the same direction as the ego vehicle", "vehicle at a stop sign", "multiple pedestrians crossing ahead" ], "460324ea-c769-38db-bba9-044643c8780e": [ - "vehicle two vehicles ahead is braking", - "vehicle braking near jaywalking pedestrian or stroller", - "vehicle hard braking with another vehicle ahead", + "any vehicle in front of stop sign", + "vehicle being tailgated while approaching stopped traffic", "pedestrian turning and watching the ego vehicle", - "vehicle at intersection facing another vehicle", - "vehicle in close proximity to bicycle", - "regular vehicles that are stopped or nearly stopped", + "jaywalking pedestrian", + "a group of people", + "vehicle approaching multiple pedestrians at crosswalk", "pedestrian approaching a parked vehicle", + "vehicle two vehicles ahead is being crossed by a pedestrian", "vehicle accelerating more than two meters per second", "oncoming vehicle changing lanes" ], "19711b73-c43b-3922-be61-8c44df707a7d": [ + "pedestrian crossing ahead of ego vehicle", + "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters", + "vehicle being crossed by a pedestrian", + "vehicle facing toward a pedestrian at a crosswalk", "moving pedestrian within 3 meters to the left of ego vehicle", - "pedestrian near construction cone", "vehicle two vehicles ahead is being crossed by a pedestrian", - "pedestrian crossing in front of vehicle at crosswalk", "the vehicle behind another vehicle being crossed by a jaywalking pedestrian", "ego vehicle near construction cone", - "stopped vehicles at intersection being crossed by pedestrians", - "group of pedestrians ahead of the ego vehicle", "motorcycle at stop sign", "bicycle following closely behind a vehicle" ], "a9a24c80-600f-3f85-b4d9-a70ceccad385": [ - "pedestrian walking past right side of vehicle", "vehicle facing away from the ego vehicle", - "vehicle braking heavily", - "pedestrian crossing ahead of ego vehicle", "stationary object", + "vehicle moving at crawling speed", + "ego vehicle approaching crossing pedestrians", + "parked vehicle", + "object that hasn't moved", "vehicle hard braking with another vehicle ahead", - "vehicle facing toward parked vehicles", "vehicle getting passed from the right", "accelerating vehicle changing lanes to the right", "vehicle being passed on the left by another vehicle" ], "b29b43d7-3af9-363e-aaeb-8805d958f982": [ "pedestrian walking past right side of vehicle", - "vehicle facing the ego vehicle", "accelerating passenger vehicle", - "parked vehicle", - "pedestrian facing toward ego vehicle", "vehicle traveling in the opposite direction as the ego vehicle", "pedestrians over 30 meters away", + "pedestrian to the back-right of the ego vehicle", + "vehicle facing away from the ego vehicle", "ego vehicle near bollard", + "stationary object", "vehicle two cars ahead is braking", "passenger vehicle turning right" ], @@ -4672,20 +4672,20 @@ "vehicle turning left while pedestrian crosses at crosswalk", "moving pedestrian within 3 meters to the left of ego vehicle", "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters", - "vehicle crossing path of another vehicle", - "pedestrian crossing between bollards", + "the vehicle behind another vehicle being crossed by a jaywalking pedestrian", "the vehicle two cars behind the ego vehicle", - "vehicle at intersection facing another vehicle", + "stopped vehicles at intersection being crossed by pedestrians", + "vehicle two vehicles ahead is being crossed by a pedestrian", "left lane change while there is a vehicle to the left", "vehicle between two bicycles while on pedestrian crossing" ], "43efcbe2-fe24-35b0-9e69-b07c1b0725d3": [ - "objects getting closer to the ego vehicle", - "vehicle being tailgated while approaching stopped traffic", + "vehicle two vehicles ahead is changing lanes", + "vehicle two cars ahead is changing lanes", "vehicle approaching and facing a stopped vehicle at an intersection", "left lane change while there is a vehicle to the left", "vehicles being passed by a motorcycle on either side", - "the vehicle two cars in front of the ego vehicle", + "ego vehicle following vehicle being overtaken on right", "motorcycle overtaking a vehicle", "motorcycle changing lanes to the left near multiple vehicles", "vehicle navigating near multiple bicycles", @@ -4693,10 +4693,10 @@ ], "c2c0e6bc-05e5-30dd-8e5e-0e7b6106ad30": [ "group of pedestrians ahead of the ego vehicle", - "ego vehicle two cars ahead of another vehicle", - "vehicle with a bicycle to its right", + "vehicle facing toward a pedestrian at a crosswalk", "moving pedestrian within 3 meters to the left of ego vehicle", "pedestrians using designated crossing", + "vehicle two vehicles ahead is being crossed by a pedestrian", "bus changing lanes", "pedestrian on intersection not using a crosswalk", "multiple buses within 50 meters ahead", @@ -4704,131 +4704,131 @@ "vehicle turning at intersection with nearby pedestrians" ], "8223c3d0-3b08-3889-9cdc-a88592c4bd4a": [ - "accelerating passenger vehicle", "pedestrian near bollard", - "motorcycle or pedestrian within 5 meters to the right of the ego vehicle", + "pedestrians over 30 meters away", "pedestrian crossing at bollard", "pedestrian turning and watching the ego vehicle", "vehicle being crossed by a pedestrian", - "a group of people", + "stationary object", + "regular vehicles that are stopped or nearly stopped", "pedestrian walking alongside bollard", "vehicle turning right at stop sign", "motorcycle between two vehicles" ], "3a789fb0-5cd2-3710-b8ea-f32fce38e3ca": [ "ego vehicle changing lanes to the left", - "pedestrians facing each other at close range, possibly conversing", + "vehicle directly facing a moving pedestrian from 5-15 meters away", + "group of pedestrians ahead of the ego vehicle", "stroller", "car with a stroller to its left", "stationary construction barrel", "pedestrian walking with stroller", "passenger vehicle near stroller in road", - "group of people", "construction item on road", "box trucks within 10 meters of an intersection" ], "1992ed13-948e-34e6-8d9b-a3416e545a95": [ - "dog near an intersection", "bus with at least 3 pedestrians within 5 meters", + "bus changing lanes", "pedestrian with multiple dogs", - "pedestrian near construction cone", - "vehicle turning right with pedestrian waiting", + "moving bus to the front-left of the ego vehicle", "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters", "bus with multiple pedestrians waiting on the right side", - "dog near pedestrian", + "bicycle following closely behind a vehicle", + "pedestrian facing toward the bus", "bicycle facing toward moving traffic", "ego vehicle passing parked bus" ], "575d8d24-ba88-3b18-84c0-df5b29dccfde": [ - "object that hasn't moved", + "vehicle to the back right of the ego vehicle", "stopped car", "objects getting closer to the ego vehicle", + "regular vehicles that are stopped or nearly stopped", "vehicle at intersection facing another vehicle", - "vehicle traveling in the opposite direction as the ego vehicle", - "motorcycle between stopped vehicles", + "pedestrian facing toward ego vehicle", "vehicle approaching and facing a stopped vehicle at an intersection", - "motorcycle between two vehicles", + "pedestrians over 30 meters away", "motorcycle changing lanes to the left near multiple vehicles", "vehicle accelerating on intersection" ], "36d7f8fb-6d47-3e1d-a1f7-b2c67ddf1f44": [ - "pedestrian turning and watching the ego vehicle", "bus with at least 3 pedestrians within 5 meters", - "passenger vehicle turning left at intersection", "pedestrians, strollers, or wheeled devices at a pedestrian crossing", - "vehicle braking near jaywalking pedestrian or stroller", - "pedestrian between moving vehicles on both sides", + "vehicle turning right with pedestrian waiting", "school bus on intersection", + "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters", + "group of three people", + "bus within 5 meters to either side of ego vehicle", "bus changing lanes", "bicycle near school bus", "vehicle turning right next to pedestrian with stroller" ], "df5d0b0e-5bcb-304a-a167-18b92d0f1d45": [ - "turning left", - "object that hasn't moved", - "pedestrians facing each other at close range, possibly conversing", + "any vehicle in front of stop sign", + "parked vehicle", "bicycle following closely behind a vehicle", "ego vehicle near bollard", "the active vehicle in front of the vehicle ahead", - "group of pedestrians ahead of the ego vehicle", + "vehicle navigating near multiple bicycles", + "ego vehicle two cars ahead of another vehicle", "at least active 2 vehicles within 15 meters behind ego vehicle", "moving bicycle directly to the left of the ego vehicle", "vehicle turning left while pedestrian crosses at crosswalk" ], "a359e053-a350-36cf-ab1d-a7980afaffa2": [ "vehicle turning right with pedestrian in front", + "vehicle two cars ahead is changing lanes", "vehicle accelerating aggressively", - "vehicle hard braking with another vehicle ahead", - "ego vehicle in dense traffic with lane-changing vehicles", - "accelerating vehicle changing lanes to the right", + "vehicle changing lanes while on an intersection", "bus changing lanes", - "vehicle two vehicles ahead is changing lanes", - "car turning right", + "vehicle facing away from the ego vehicle", + "vehicle changing lanes to the right", + "vehicle being passed on the left by another vehicle", "bicycle sharing lane as a regular vehicle", "multiple pedestrians crossing ahead" ], "ad319b98-6faa-3648-98bd-43afdbd20020": [ - "vehicle being overtaken while approaching another vehicle", + "moving bus to the front-left of the ego vehicle", "motorcyclist", + "ego vehicle two cars ahead of another vehicle", + "pedestrian walking past right side of vehicle", "motorcycle between two vehicles", "bus within 5 meters to either side of ego vehicle", - "ego vehicle with vehicles on both sides", - "the vehicle two cars behind the ego vehicle", + "pedestrians using designated crossing", "vehicles being passed by a motorcycle on either side", - "vehicle being overtaken on the left", "left lane change while there is a vehicle to the left", "moving pedestrian within 3 meters to the left of ego vehicle" ], "eed8593d-60e3-3e41-9fea-55f544b01749": [ - "any vehicle in front of stop sign", - "stop sign behind a pedestrian", + "turning left", + "truck on intersection", "vehicle turning right at stop sign", + "vehicle braking heavily", + "vehicle behind another vehicle that has a pedestrian on its right side", "ego vehicle changing lanes to the left", "accelerating truck", - "vehicle being passed on the left by another vehicle", "vehicle stopped at a stop sign", - "vehicle being overtaken on the left", "truck swerving near construction cones", "vehicle braking at pedestrian crossing" ], "9fd55542-e982-361f-814f-61ad4ad07adf": [ "vehicle changing lanes while in bike lane", - "vehicle stopped at construction barrel", - "dog", "ego vehicle near construction barrel", "group of pedestrians ahead of the ego vehicle", + "bicycle traveling with vehicle traffic", "vehicle changing lanes through bike lane", + "bicycle passing by parked vehicle", "pedestrian with multiple dogs", "ego vehicle approaching stopped truck", "bus within 5 meters to either side of ego vehicle", "pedestrian walking between two stopped vehicles" ], "9cdbe6f4-938f-4ac5-88f7-94a82bea715b": [ + "construction item on road", "bicyclist within 3 meters on either side", "vehicle changing lanes near group of cyclists", "bicycle near a bus", "vehicle maneuvering between construction barriers", - "pedestrian in front of a bicyclist who is to the left of a vehicle", "bicyclist changing lanes to the right", "bicycle traveling alongside construction indicators", "bicycle passing between bus and construction barrier", @@ -4836,11 +4836,11 @@ "pedestrian near construction cone" ], "b4fc7eef-819c-35a6-b937-358ffb5c2aa0": [ + "truck without trailer", "ego vehicle changing lanes to the right with a vehicle ahead", "pedestrian to the left of a truck", - "box truck braking in front of ego vehicle", - "vehicle changing lanes while on an intersection", "vehicle with multiple construction cones on the left side", + "parked box trucks", "semi truck within 30 meters ahead of ego vehicle", "moving pedestrian within 3 meters to the left of ego vehicle", "ego vehicle approaching stopped truck", @@ -4850,81 +4850,81 @@ "633addf9-441c-35e7-868a-738aa612d51c": [ "regular vehicle turning right", "stopped vehicle facing a turning vehicle between 5-20 meters away", - "motorcycle between two vehicles", - "the vehicle behind another vehicle being crossed by a jaywalking pedestrian", - "vehicle turning right with pedestrian waiting", "vehicle turning left while pedestrian crosses at crosswalk", "pedestrian turning and watching the ego vehicle", "pedestrian crossing at bollard", + "pedestrian on intersection not using a crosswalk", + "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters", + "motorcycle between stopped vehicles", "active vehicle at stop sign", "ego vehicle in dense traffic with lane-changing vehicles" ], "8346e544-4a73-3c88-9339-c7a21fbd3a2f": [ "vehicle with multiple bicycles ahead", "vehicle within 5 meters of a bicycle", - "vehicle navigating near multiple bicycles", - "vehicle with a bicycle to its right", + "ego vehicle with parked bicycles ahead", "moving pedestrian within 3 meters to the left of ego vehicle", - "oncoming vehicle changing lanes", "ego vehicle changing lanes to the right with a vehicle ahead", "passenger vehicle swerving left", + "vehicle in close proximity to bicycle", + "bicycle following closely behind a vehicle", "vehicle turning near group of cyclists", "bicycle and vehicle traveling in bike lane" ], "4aae26d1-aa71-30ae-b838-2a25d1f317f5": [ - "pedestrian to the back-right of the ego vehicle", - "vehicle with a bicycle to its right", + "vehicle approaching pedestrians waiting at a crosswalk", + "truck on intersection", + "vehicle with multiple construction cones on the left side", "multiple buses within 50 meters ahead", - "vehicle changing lanes", + "pedestrian facing toward ego vehicle", "bicycle in vehicle lane with vehicle", - "bicycle crossing vehicle path at intersection", - "ego vehicle following vehicle that is being overtaken on the right", - "ego vehicle changing lanes between truck and bicycle while approaching pedestrian crossing", - "truck changing lanes to the right", - "vehicle at a stop sign" + "bicycle near traffic cone", + "bicycle near a bus", + "vehicle two vehicles ahead is changing lanes", + "bicycle crossing vehicle path at intersection" ], "6b0cc3b0-2802-33a7-b885-f1f1409345ac": [ + "vehicle being overtaken on the right", "vehicle sharing a lane with another vehicle", - "vehicle changing lanes while on an intersection", - "vehicle to the back right of the ego vehicle", - "vehicle traveling in the same direction as the ego vehicle", - "ego vehicle following vehicle being overtaken on right", - "accelerating vehicle changing lanes to the right", + "vehicle with multiple bicycles ahead", + "vehicle being overtaken while approaching another vehicle", + "vehicle changing lanes to the right", + "vehicle changing lanes", "vehicle following another vehicle too closely", - "vehicle traveling in the opposite direction as the ego vehicle", + "vehicle moving at crawling speed", "pedestrian near bollard", "ego vehicle in dense traffic with lane-changing vehicles" ], "b9b1564c-66d0-4597-a664-2735cf2ffd04": [ - "the active vehicle in front of the vehicle ahead", - "vehicle facing the ego vehicle", - "vehicle directly facing a moving pedestrian from 5-15 meters away", - "vehicle facing toward parked vehicles", + "vehicle sharing a lane with another vehicle", + "pedestrian on intersection not using a crosswalk", "group of people", - "vehicle at a stop sign", - "pedestrians over 30 meters away", - "stationary object", - "vehicle stopped at a stop sign", - "pedestrian crossing in front of vehicle at crosswalk" - ], - "1a10b0e6-569f-32db-95e8-10c074e353e8": [ + "vehicle to the back right of the ego vehicle", + "vehicle following another vehicle too closely", + "vehicle hard braking with another vehicle ahead", + "the vehicle two cars in front of the ego vehicle", + "a group of people", + "vehicle stopped at a stop sign", + "pedestrian crossing in front of vehicle at crosswalk" + ], + "1a10b0e6-569f-32db-95e8-10c074e353e8": [ "bus within 5 meters to either side of ego vehicle", - "group of pedestrians ahead of the ego vehicle", - "vehicle turning right with pedestrian in front", - "dog near pedestrian", "pedestrian walking with dog on sidewalk", "dog near an intersection", "pedestrian with multiple dogs", + "dog", + "vehicle facing toward a pedestrian at a crosswalk", "bus with multiple pedestrians waiting on the right side", + "bus with at least 3 pedestrians within 5 meters", "accelerating passenger vehicle", "vehicle passing school bus at stop" ], "c4ea1b05-c7d5-3b59-aed1-9f3d2621ac00": [ - "vehicle facing away from the ego vehicle", "vehicle sharing a lane with another vehicle", + "the vehicle two cars in front of the ego vehicle", "pedestrian walking alongside bollard", - "vehicle changing lanes to the right", - "vehicle directly facing a moving pedestrian from 5-15 meters away", + "pedestrian to the back-right of the ego vehicle", + "regular vehicles that are stopped or nearly stopped", "pedestrian near bollard", "pedestrian walking past right side of vehicle", "the active vehicle in front of the vehicle ahead", @@ -4932,22 +4932,22 @@ "pedestrian crossing in front of vehicle at crosswalk" ], "d20c3612-a64d-3aa8-bd4a-58890413afbb": [ - "stroller", + "regular vehicles that are stopped or nearly stopped", "ego vehicle near stroller on sidewalk", "vehicle accelerating towards pedestrian crossing", - "ego vehicle following vehicle being overtaken on right", - "vehicle being overtaken on the left", + "vehicle braking heavily", "unattended stroller", - "vehicle two vehicles ahead is changing lanes", + "vehicle accelerating more than two meters per second", + "vehicle changing lanes", "ego vehicle following vehicle that is being overtaken on the right", "vehicle turning right with pedestrian in front", "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters" ], "e2de16b1-0ae9-39ad-82fd-edcabb26feca": [ "pedestrian to the left of a truck", + "vehicle being passed on the left by another vehicle", "vehicle passing stopped truck with pedestrian nearby", - "group of pedestrians ahead of the ego vehicle", - "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters", + "vehicle two cars ahead is being crossed by a pedestrian", "vehicle turning left while pedestrian crosses at crosswalk", "pedestrian facing toward the bus", "vehicle two vehicles ahead is being crossed by a pedestrian", @@ -4956,22 +4956,22 @@ "moving bus to the front-left of the ego vehicle" ], "aa630060-2eda-37bd-ae88-a513fd9fc8e3": [ - "pedestrian walking alongside bollard", + "any vehicle in front of stop sign", + "motorcycle or pedestrian within 5 meters to the right", "vehicle turning right at stop sign", - "motorcycle or pedestrian within 5 meters to the right of the ego vehicle", + "vehicle with a bicycle to its right", "vehicle with multiple bicycles ahead", - "vehicle in close proximity to bicycle", - "active vehicle at stop sign", + "ego vehicle near bollard", "vehicle at a stop sign", "bicycle following closely behind a vehicle", "vehicle facing and heading toward pedestrian group", "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters" ], "96284bbc-6b58-330f-a5a6-76cd518543f0": [ - "motorcycle between two vehicles", "motorcycle or pedestrian within 5 meters to the right", - "bicycle in same lane as a vehicle", - "bicycle traveling with vehicle traffic", + "motorcycle or pedestrian within 5 meters to the right of the ego vehicle", + "bicycle in vehicle lane with vehicle", + "vehicle accelerating towards pedestrian crossing", "pedestrian crossing between bollards", "bicyclist riding in vehicle lane", "motorcycle between stopped vehicles", @@ -4984,30 +4984,30 @@ "ego vehicle changing lanes to the left", "construction item on road", "vehicle stopped at construction barrel", - "vehicle within 5 meters of a bicycle", + "pedestrian near construction cone", "ego vehicle changing lanes near construction zone", "parked box trucks", - "vehicle with a bicycle to its right", + "vehicle with multiple bicycles ahead", "box truck changing lanes to the right", "vehicle turning right with pedestrian waiting" ], "12071817-ba53-35a4-bf6c-a8e8e7ad8969": [ + "vehicle braking heavily", + "vehicle accelerating on intersection", "vehicle two vehicles ahead is braking", - "vehicle crossing path of another vehicle", "turning left", - "ego vehicle two cars ahead of another vehicle", "at least active 2 vehicles within 15 meters behind ego vehicle", - "vehicle traveling in the opposite direction as the ego vehicle", + "vehicle moving at crawling speed", "two cars back from the ego vehicle", "ego vehicle with vehicles on both sides", "car turning right", "bus within 5 meters to either side of ego vehicle" ], "0a524e66-ee33-3b6c-89ef-eac1985316db": [ - "ego vehicle approaching pedestrian at crosswalk", "bus with multiple pedestrians waiting on the right side", + "multiple buses within 50 meters ahead", + "bus within 5 meters to either side of ego vehicle", "bus in bus lane", - "bus with at least 3 pedestrians within 5 meters", "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters", "vehicle turning right next to pedestrian with stroller", "bus changing lanes", @@ -5017,12 +5017,12 @@ ], "3933d1a2-f121-3c8a-8b01-7738e58c045f": [ "bus with another bus in its lane", + "group of three people", "pedestrian between moving vehicles on both sides", "multiple buses within 50 meters ahead", "group of pedestrians ahead of the ego vehicle", + "bus within 5 meters to either side of ego vehicle", "vehicle two cars ahead is braking", - "moving bus to the front-left of the ego vehicle", - "pedestrian on intersection not using a crosswalk", "bus with at least 3 pedestrians within 5 meters", "vehicle to the back right of the ego vehicle", "pedestrian walking between two stopped vehicles" @@ -5031,10 +5031,10 @@ "ego vehicle approaching cyclist in same lane", "car following closely behind bicyclist", "bicycle traveling against traffic", - "bicycle in same lane as a vehicle", - "vehicle in close proximity to bicycle", - "group of people", + "pedestrian turning and watching the ego vehicle", + "bicycle facing toward a vehicle", "bicyclist within 3 meters on either side", + "bicyclist riding in vehicle lane", "bicycle sharing lane as a regular vehicle", "accelerating vehicle changing lanes to the right", "bicycle near traffic cone" @@ -5043,59 +5043,59 @@ "bicycle near traffic cone", "bicyclist within 3 meters on either side", "pedestrian in front of a bicyclist who is to the left of a vehicle", - "ego vehicle approaching cyclist in same lane", + "making a left lane change while there is a vehicle to the right", "moving bicycle directly to the left of the ego vehicle", - "bicycle traveling alongside parked vehicles", - "ego vehicle approaching crossing pedestrians", + "truck on intersection", + "pedestrian crossing ahead of ego vehicle", "vehicle passing truck with pedestrian crossing ahead", "pedestrian to the left of a truck", "any vehicle in front of stop sign" ], "6c26dd11-e4a9-3d85-b118-09f65c6f0f2a": [ - "pedestrians facing each other at close range, possibly conversing", "bicycle traveling alongside construction indicators", - "pedestrian on intersection not using a crosswalk", - "bicycle facing toward a vehicle", + "vehicle turning right with pedestrian waiting", + "ego vehicle following vehicle being overtaken on right", "passenger vehicle turning left at intersection", "stationary construction barrel", - "ego vehicle with parked bicycles ahead", - "group of people", + "ego vehicle following vehicle that is being overtaken on the right", + "bicyclist riding in vehicle lane", + "car turning right", "construction barrel with at least 2 construction cones within 3 meters", "vehicle turning right near construction zone" ], "c858bd6a-81ab-3f54-b46d-ffc091ef6945": [ "ego vehicle two cars ahead of another vehicle", + "ego vehicle with vehicles on both sides", "ego vehicle following vehicle that is being overtaken on the right", - "vehicle traveling in the opposite direction as the ego vehicle", "vehicle being overtaken while approaching another vehicle", - "vehicle being followed by ego vehicle while being overtaken on right", "the vehicle two cars behind the ego vehicle", - "ego vehicle following vehicle being overtaken on right", - "vehicle to the back right of the ego vehicle", + "two cars back from the ego vehicle", + "vehicle being overtaken on the left", + "vehicle two vehicles ahead is braking", "vehicle crossing path of another vehicle", "stopped vehicle facing a turning vehicle between 5-20 meters away" ], "f9f6a7e9-4f79-3fdf-b1a7-ba300622f116": [ - "passenger vehicle swerving left", - "oncoming vehicle changing lanes", "pedestrian near stop sign", + "vehicle changing lanes", "vehicle turning left at intersection while sharing lane with a bus", "vehicle accelerating while changing lanes", - "pedestrian between moving vehicles on both sides", + "bus making right turn", "motorcycle overtaking a vehicle", - "pedestrian facing toward the bus", + "vehicles being passed by a motorcycle on either side", + "moving bus to the front-left of the ego vehicle", "bus changing lanes", "ego vehicle near construction barrel" ], "b6642e23-d100-3680-8882-9f3b753b2eef": [ "vehicle within 5 meters of a bicycle", "vehicle with a bicycle to its right", + "a group of people", "vehicle two cars ahead is braking", "vehicle in close proximity to bicycle", "ego vehicle near construction cone", - "vehicle facing toward a pedestrian at a crosswalk", "vehicle being crossed by a pedestrian", - "vehicle facing toward parked vehicles", + "group of pedestrians ahead of the ego vehicle", "left lane change while there is a vehicle to the left", "bicycle traveling alongside parked vehicles" ], @@ -5103,19 +5103,19 @@ "motorcycle passing between parked vehicles", "vehicle braking near pedestrian crossing", "motorcyclist traveling opposite to bicycle traffic", - "vehicles being passed by a motorcycle on either side", - "motorcycle between stopped vehicles", + "vehicle accelerating towards pedestrian crossing", + "passenger vehicle swerving left", + "vehicle accelerating aggressively", "bicycle behind a bus", "vehicle braking at pedestrian crossing", - "car following closely behind bicyclist", "vehicle changing lanes while in bike lane", "ego vehicle approaching stopped truck" ], "067b1c50-6567-3840-ab56-1ca2a0ed9c30": [ "vehicle turning left while pedestrian crosses at crosswalk", "bicycle behind a bus", - "vehicle two cars ahead is changing lanes", "bus making right turn", + "stopped vehicles at intersection being crossed by pedestrians", "ego vehicle near articulated bus", "city bus", "bicycle near a bus", @@ -5126,36 +5126,36 @@ "6e106cf8-f6dd-38f6-89c8-9be7a71e7275": [ "multiple buses within 50 meters ahead", "ego vehicle approaching stopped truck", + "ego vehicle approaching stopped delivery truck", "truck in the same lane as a bus", "box truck changing lanes to the right", + "jaywalking pedestrian", "vehicle turning left at intersection while sharing lane with a bus", - "pedestrian on intersection not using a crosswalk", "bus in the same lane as a truck", - "stopped car", "vehicle two cars ahead is changing lanes", "pedestrian on road not facing traffic" ], "855ba280-cd69-348d-9107-69e28cb8ad99": [ - "bicycle in same lane as a vehicle", + "bicycle sharing lane as a regular vehicle", "ego vehicle near bollard", "motorcycle between two vehicles", - "bicycle in vehicle lane with vehicle", "motorcycle or pedestrian within 5 meters to the right of the ego vehicle", + "bicyclist riding in vehicle lane", + "bicycle traveling alongside parked vehicles", "bicycle passing by parked vehicle", - "vehicle in close proximity to bicycle", - "car following closely behind bicyclist", + "motorcycle or pedestrian within 5 meters to the right", "vehicle changing lanes near group of cyclists", "bicycle near traffic cone" ], "d551b8f9-feab-3946-9524-219e07988341": [ - "vehicle crossing path of another vehicle", - "two cars back from the ego vehicle", - "vehicle two vehicles ahead is being crossed by a pedestrian", - "vehicle being crossed by a pedestrian", + "moving pedestrian within 3 meters to the left of ego vehicle", + "vehicle traveling in the opposite direction as the ego vehicle", + "accelerating truck", + "vehicle getting passed from the right", + "vehicle two cars ahead is being crossed by a pedestrian", "truck sharing a lane with another truck", - "vehicle being passed on the left by another vehicle", "vehicle braking heavily", - "vehicle being overtaken while approaching another vehicle", + "vehicle hard braking with another vehicle ahead", "pedestrian on road not facing traffic", "vehicle two vehicles ahead is changing lanes" ], @@ -5165,32 +5165,32 @@ "bicycle traveling with vehicle traffic", "bicyclist riding in vehicle lane", "bicycle on intersection", - "bicycle facing toward a vehicle", + "vehicle in close proximity to bicycle", "vehicle within 5 meters of a bicycle", "bicycle facing toward moving traffic", "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters", "ego vehicle changing lanes near bicycle while approaching stop sign" ], "f3cc42c7-84a8-35c5-8683-13878bb9beeb": [ + "vehicle accelerating more than two meters per second", "accelerating truck", - "ego vehicle with vehicles on both sides", "vehicle being overtaken while approaching another vehicle", - "pedestrian to the back-right of the ego vehicle", - "pedestrian between moving vehicles on both sides", + "vehicle being overtaken on the left", "truck on intersection", - "vehicle being passed on the left by another vehicle", - "vehicle changing lanes while on an intersection", + "vehicle accelerating while changing lanes", + "vehicle accelerating on intersection", + "vehicle braking heavily", "vehicle two vehicles ahead is turning", "ego vehicle approaching pedestrian at crosswalk" ], "edf3a727-664e-38be-b990-65d34012d926": [ - "vehicle in close proximity to bicycle", - "vehicle navigating near multiple bicycles", + "pedestrian walking alongside bollard", + "pedestrian between moving vehicles on both sides", "vehicle with multiple construction cones on the left side", - "ego vehicle approaching pedestrian at crosswalk", - "vehicle with multiple bicycles ahead", + "group of pedestrians ahead of the ego vehicle", + "pedestrian near construction cone", + "pedestrian near bollard", "bicycle following closely behind a vehicle", - "vehicle with a bicycle to its right", "ego vehicle with parked bicycles ahead", "bicycle on intersection", "accelerating vehicle changing lanes to the right" @@ -5198,22 +5198,22 @@ "65732efc-1564-3ff8-8c7c-4239a08c0d70": [ "vehicle two cars ahead is being crossed by a pedestrian", "vehicle turning right next to pedestrian with stroller", + "pedestrian walking with stroller", + "pedestrian turning and watching the ego vehicle", "ego vehicle approaching crossing pedestrians", - "stopped vehicles at intersection being crossed by pedestrians", - "pedestrian crossing ahead of ego vehicle", "multiple pedestrians crossing ahead", - "vehicle two vehicles ahead is being crossed by a pedestrian", + "vehicle braking near jaywalking pedestrian or stroller", "pedestrian crossing at bollard", "vehicle changing lanes while in bike lane", "vehicle changing lanes while on an intersection" ], "e38c1e1d-f0e9-3d73-8193-29cbea481b4c": [ - "bicyclist riding in vehicle lane", "bicycle in vehicle lane with vehicle", "bicycle facing toward moving traffic", - "bus within 5 meters to either side of ego vehicle", + "vehicle accelerating while changing lanes", "car following closely behind bicyclist", - "bicycle passing by parked vehicle", + "vehicle two cars ahead is braking", + "ego vehicle approaching pedestrian at crosswalk", "bicycle near school bus", "ego vehicle following vehicle that is being overtaken on the right", "pedestrian on intersection not using a crosswalk", @@ -5221,84 +5221,84 @@ ], "074d2237-ed1b-34d7-a2fc-68edbce50bb2": [ "bicycle following closely behind a vehicle", - "vehicle approaching stopped vehicle at intersection", "multiple pedestrians crossing ahead", "vehicle turning right at stop sign", + "ego vehicle approaching crossing pedestrians", "vehicle turning right with pedestrian waiting", - "the vehicle behind another vehicle being crossed by a jaywalking pedestrian", - "vehicle two cars ahead is changing lanes", + "stopped vehicles at intersection being crossed by pedestrians", + "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters", "vehicle with multiple bicycles ahead", "vehicle accelerating towards pedestrian crossing", "vehicle turning left while pedestrian crosses at crosswalk" ], "fac8a63c-6b75-39d0-9f57-4344fde0f794": [ "ego vehicle changing lanes to the right with a vehicle ahead", - "ego vehicle following vehicle that is being overtaken on the right", - "making a left lane change while there is a vehicle to the right", + "vehicle two cars ahead is braking", + "vehicle crossing path of another vehicle", "ego vehicle in dense traffic with lane-changing vehicles", - "ego vehicle two cars ahead of another vehicle", + "vehicle changing lanes", + "vehicle braking heavily", "ego vehicle near construction cone", - "oncoming vehicle changing lanes", "ego vehicle merging between two regular vehicles", "pedestrian facing toward ego vehicle", "vehicle facing toward a pedestrian at a crosswalk" ], "595ec33e-a1aa-3aaf-8821-8d1780db354c": [ - "vehicle following another vehicle too closely", - "ego vehicle approaching pedestrian at crosswalk", - "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters", - "pedestrian turning and watching the ego vehicle", - "vehicle behind another vehicle that has a pedestrian on its right side", + "objects getting closer to the ego vehicle", + "vehicle facing toward parked vehicles", + "the vehicle two cars in front of the ego vehicle", + "stopped car", "bus making right turn", "bus in bus lane", + "pedestrian walking alongside stopped bus", "vehicle making a right turn", - "vehicle braking near pedestrian crossing", - "the vehicle two cars behind the ego vehicle" + "vehicle turning left while pedestrian crosses at crosswalk", + "vehicle accelerating aggressively" ], "cea5f5c2-e786-30f5-8305-baead8923063": [ "bicycle in vehicle lane with vehicle", "bicyclist on intersection", + "bicycle on intersection", "bicyclist riding in vehicle lane", - "bicycle in same lane as a vehicle", "bicyclist changing lanes to the right", "bicycle crossing vehicle path at intersection", - "ego vehicle approaching cyclist in same lane", "bicycle sharing lane as a regular vehicle", + "bicycle traveling with vehicle traffic", "pedestrian crossing ahead of ego vehicle", "the vehicle behind another vehicle being crossed by a jaywalking pedestrian" ], "6fdd8d39-7b04-365a-9941-e9e805b05ecf": [ + "bicycle facing toward a vehicle", "bicycle passing by parked vehicle", "ego vehicle approaching cyclist in same lane", "bicyclist riding in vehicle lane", "bicyclist within 3 meters on either side", "bicycle traveling against traffic", - "bicycle in vehicle lane with vehicle", + "accelerating truck", "bicycle in same lane as a vehicle", - "bicycle traveling with vehicle traffic", "vehicle traveling over 20 meters per second", "bus with at least 3 pedestrians within 5 meters" ], "e125bb91-dcaf-3013-9cc7-da653d7e11e1": [ - "vehicle with a bicycle to its right", - "stopped vehicles at intersection being crossed by pedestrians", "pedestrian crossing at bollard", "vehicle with multiple bicycles ahead", - "the vehicle behind another vehicle being crossed by a jaywalking pedestrian", + "pedestrian facing toward the bus", "vehicle navigating near multiple bicycles", "vehicle two cars ahead is being crossed by a pedestrian", + "vehicle in close proximity to bicycle", "group of three people", + "pedestrian crossing ahead of ego vehicle", "bicycle in vehicle lane with vehicle", "vehicle turning right with pedestrian in front" ], "c69e348a-8e10-31dc-b71b-dd8e5cfd7211": [ "pedestrians, strollers, or wheeled devices at a pedestrian crossing", - "pedestrian walking with stroller", - "parked box trucks", + "regular vehicles that are stopped or nearly stopped", "the vehicle two cars in front of the ego vehicle", - "ego vehicle approaching stopped delivery truck", + "two cars back from the ego vehicle", + "the active vehicle in front of the vehicle ahead", "vehicle braking near jaywalking pedestrian or stroller", - "vehicle being crossed by a pedestrian", + "vehicle behind another vehicle that has a pedestrian on its right side", "box truck braking in front of ego vehicle", "vehicle with multiple construction cones on the left side", "ego vehicle approaching intersection with a pedestrian crossing in front of multiple trucks" @@ -5307,9 +5307,9 @@ "dog", "dog near an intersection", "dog near pedestrian", - "ego vehicle approaching pedestrian at crosswalk", "pedestrian crossing in front of vehicle at crosswalk", - "pedestrian walking alongside stopped bus", + "bicyclist on intersection", + "car following closely behind bicyclist", "bicycle near a bus", "pedestrian in front of a bicyclist who is to the left of a vehicle", "bicycle traveling against traffic", @@ -5318,21 +5318,21 @@ "e94f58d9-177b-31be-aa05-e6dd10d04124": [ "construction item on road", "bicycle traveling against traffic", + "pedestrian in front of a bicyclist who is to the left of a vehicle", "car following closely behind bicyclist", "moving bicycle directly to the left of the ego vehicle", "bicycle passing by parked vehicle", - "bicycle sharing lane as a regular vehicle", - "bicycle traveling alongside parked vehicles", "bicycle near traffic cone", + "pedestrian near stop sign", "ego vehicle following bicycle closely", "vehicle turning right with pedestrian waiting" ], "247f91e7-3177-33ad-b99e-0e0a4dc76751": [ - "bicycle sharing lane as a regular vehicle", + "bicyclist riding in vehicle lane", "bicycle following closely behind a vehicle", "bicycle traveling with vehicle traffic", + "bicycle facing toward moving traffic", "bicycle passing by parked vehicle", - "bicyclist on intersection", "bicycle traveling alongside parked vehicles", "ego vehicle approaching cyclist in same lane", "bicycle on intersection", @@ -5342,7 +5342,7 @@ "f64ed43e-417a-31ad-a322-b6108bf99a71": [ "truck sharing a lane with another truck", "pedestrian to the left of a truck", - "vehicle passing truck with pedestrian crossing ahead", + "vehicle turning left at intersection while sharing lane with a bus", "bicycle behind a bus", "bicycle traveling against traffic", "bicycle crossing vehicle path at intersection", @@ -5352,22 +5352,22 @@ "vehicle two vehicles ahead is at a stop sign" ], "28617035-7557-3cb9-99c2-754f72fd34b4": [ + "group of people", + "the vehicle two cars in front of the ego vehicle", "pedestrian between moving vehicles on both sides", "vehicle changing lanes while in bike lane", "vehicle changing lanes through bike lane", "pedestrian turning and watching the ego vehicle", - "vehicle two cars ahead is braking", - "accelerating truck", - "oncoming vehicle changing lanes", "left lane change while there is a vehicle to the left", + "vehicle accelerating more than two meters per second", "bicycle in vehicle lane with vehicle", "ego vehicle changing lanes between truck and bicycle while approaching pedestrian crossing" ], "8aad8778-73ce-3fa0-93c7-804ac998667d": [ "bicycle near a bus", - "bicycle passing by parked vehicle", "pedestrian walking alongside stopped bus", "bicyclist on intersection", + "car following closely behind bicyclist", "pedestrian in front of a bicyclist who is to the left of a vehicle", "ego vehicle following vehicle that is being overtaken on the right", "motorcyclist braking hard", @@ -5376,266 +5376,266 @@ "oncoming vehicle changing lanes" ], "d5d40b4c-48d9-3b68-903a-025eb0fa334d": [ - "group of people", "vehicle braking near pedestrian crossing", "vehicle braking at pedestrian crossing", - "pedestrian crossing in front of vehicle at crosswalk", "group of three people", + "vehicle navigating near multiple bicycles", + "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters", "car driving in bus lane", - "ego vehicle approaching pedestrian at crosswalk", - "pedestrian near bollard", + "pedestrian walking alongside bollard", + "bus within 5 meters to either side of ego vehicle", "bus making right turn", "the vehicle behind another vehicle being crossed by a jaywalking pedestrian" ], "5426cd2f-f4b9-3660-99d2-6617bb0f1b26": [ "active vehicle at stop sign", - "passenger vehicle turning left at intersection", "vehicle facing and heading toward pedestrian group", - "motorcyclist", - "vehicle sharing a lane with another vehicle", - "vehicle to the back right of the ego vehicle", - "pedestrian facing toward ego vehicle", - "stopped vehicle facing a turning vehicle between 5-20 meters away", - "vehicle braking at pedestrian crossing", - "pedestrian to the back-right of the ego vehicle" + "pedestrians over 30 meters away", + "vehicle being followed by ego vehicle while being overtaken on right", + "vehicle with multiple pedestrians to the left", + "vehicle being tailgated while approaching stopped traffic", + "pedestrian walking past right side of vehicle", + "objects getting closer to the ego vehicle", + "motorcycle passing between parked vehicles", + "group of three people" ], "2451c219-3002-3b2e-8fa9-2b7fea168b3b": [ - "vehicle accelerating more than two meters per second", + "jaywalking pedestrian", + "pedestrian facing toward ego vehicle", "vehicle accelerating aggressively", + "ego vehicle near construction cone", "the vehicle behind another vehicle being crossed by a jaywalking pedestrian", - "vehicle two vehicles ahead is being crossed by a pedestrian", - "ego vehicle approaching crossing pedestrians", + "pedestrian crossing ahead of ego vehicle", "stopped vehicles at intersection being crossed by pedestrians", - "two cars back from the ego vehicle", "multiple pedestrians crossing ahead", "vehicle turning right with pedestrian waiting", "vehicle being overtaken on the left" ], "bee1146d-2e80-37e3-b08a-6ac8858e8973": [ - "ego vehicle two cars ahead of another vehicle", "bus in bus lane", + "vehicle accelerating aggressively", "bus with at least 3 pedestrians within 5 meters", "car driving in bus lane", - "moving bus to the front-left of the ego vehicle", + "vehicle facing toward a pedestrian at a crosswalk", "multiple buses within 50 meters ahead", + "pedestrian on intersection not using a crosswalk", "bus with another bus in its lane", - "ego vehicle approaching crossing pedestrians", "vehicle braking at pedestrian crossing", "vehicle two cars ahead is being crossed by a pedestrian" ], "0526e68e-2ff1-3e53-b0f8-45df02e45a93": [ + "vehicle hard braking with another vehicle ahead", "ego vehicle approaching stopped delivery truck", - "pedestrians using designated crossing", + "pedestrian facing toward the bus", + "vehicle braking heavily", "jaywalking pedestrian", - "pedestrian on intersection not using a crosswalk", - "group of people", + "vehicle accelerating on intersection", "pedestrian near bollard", - "the vehicle two cars behind the ego vehicle", "vehicle being crossed by a pedestrian", "vehicle approaching pedestrians waiting at a crosswalk", "bus in bus lane" ], "08bcc06e-3adf-3651-aa4d-d791004418ca": [ "box truck changing lanes ahead", - "the vehicle two cars behind the ego vehicle", - "ego vehicle approaching stopped delivery truck", + "left lane change while there is a vehicle to the left", + "making a left lane change while there is a vehicle to the right", "truck on intersection", "box truck changing lanes to the left", - "vehicle two cars ahead is braking", "vehicle two cars ahead is changing lanes", "vehicle two vehicles ahead is changing lanes", + "box trucks within 10 meters of an intersection", "box truck changing lanes to the right", "vehicle accelerating aggressively" ], "928e282f-d1a0-3e85-9582-0b33664c49e8": [ - "accelerating truck", + "active vehicle at stop sign", "bicycle passing by parked vehicle", + "car following closely behind bicyclist", "vehicle with a bicycle to its right", "bicycle facing toward a vehicle", "bicycle facing toward moving traffic", "bicycle traveling alongside parked vehicles", - "vehicle navigating near multiple bicycles", - "vehicle in close proximity to bicycle", + "vehicle within 5 meters of a bicycle", "vehicle braking at pedestrian crossing", "ego vehicle two cars ahead of another vehicle" ], "56c24ed8-68c5-3a08-8e3c-19646ac670e5": [ - "jaywalking pedestrian", - "ego vehicle two cars ahead of another vehicle", - "pedestrian walking past right side of vehicle", - "vehicle changing lanes while on an intersection", "truck changing lanes to the right", - "vehicle traveling in the opposite direction as the ego vehicle", - "bicycle facing toward a vehicle", + "truck on intersection", + "the vehicle two cars in front of the ego vehicle", + "regular vehicles that are stopped or nearly stopped", "pedestrian walking alongside stopped bus", - "group of at least 3 moving bicyclists within 5 meters of each other", - "ego vehicle merging between two regular vehicles" + "vehicle accelerating towards pedestrian crossing", + "vehicle being tailgated while approaching stopped traffic", + "the vehicle two cars behind the ego vehicle", + "truck swerving near construction cones", + "pedestrian crossing in front of vehicle at crosswalk" ], "919f13de-857f-3b1c-9f8e-7cbe500a60ae": [ - "vehicle near multiple bollards", - "passenger vehicle turning right", + "ego vehicle with vehicles on both sides", + "pedestrian near bollard", + "vehicle two vehicles ahead is turning", "accelerating vehicle changing lanes to the right", "vehicle stopped at construction barrel", - "vehicle near construction barrel", - "vehicle in close proximity to bicycle", - "vehicle within 5 meters of a bicycle", + "vehicle changing lanes", "ego vehicle near bollard", + "vehicle changing lanes while on an intersection", "multiple pedestrians crossing ahead", "vehicle two cars ahead is being crossed by a pedestrian" ], "3ca11a5e-50b2-3cc3-af7a-ce7ab02b9954": [ - "group of pedestrians ahead of the ego vehicle", + "vehicle facing toward a pedestrian at a crosswalk", + "a group of people", "vehicle stopped at construction barrel", "construction barrel with at least 2 construction cones within 3 meters", - "pedestrian crossing in front of vehicle at crosswalk", + "vehicle being crossed by a pedestrian", "vehicle near construction barrel", - "pedestrians facing each other at close range, possibly conversing", - "group of people", - "passenger vehicle turning left at intersection", + "vehicle behind another vehicle that has a pedestrian on its right side", + "vehicle directly facing a moving pedestrian from 5-15 meters away", "regular vehicle turning right", "vehicle accelerating while changing lanes" ], "b6c04ab6-1c07-3e17-97d5-e870db090e52": [ + "vehicle changing lanes while on an intersection", "vehicle changing lanes to the right", - "vehicle changing lanes", "pedestrians, strollers, or wheeled devices at a pedestrian crossing", "dog near an intersection", - "dog near pedestrian", - "vehicle accelerating while changing lanes", - "vehicle being passed on the left by another vehicle", - "vehicle facing toward a pedestrian at a crosswalk", + "vehicle being overtaken on the left", + "pedestrian near construction cone", + "pedestrian crossing in front of vehicle at crosswalk", + "pedestrian facing toward the bus", "bus with multiple strollers in front", "vehicle making a right turn" ], "1ab241cf-f9c5-3f8a-88bd-4e14baad8ede": [ + "vehicle accelerating on intersection", "stop sign behind a pedestrian", - "making a left lane change while there is a vehicle to the right", + "vehicle behind another vehicle that has a pedestrian on its right side", + "vehicle accelerating aggressively", "ego vehicle following vehicle that is being overtaken on the right", - "vehicle changing lanes while on an intersection", "vehicle being overtaken while approaching another vehicle", - "group of people", - "group of pedestrians ahead of the ego vehicle", - "at least active 2 vehicles within 15 meters behind ego vehicle", + "vehicle accelerating while changing lanes", + "vehicle changing lanes", "pedestrian facing toward the bus", "vehicle turning right with pedestrian in front" ], "73539e96-eef2-3302-bdf4-a39e9d95b6e7": [ "pedestrian turning and watching the ego vehicle", - "stopped car", - "pedestrians over 30 meters away", - "stroller", - "parked box trucks", - "accelerating passenger vehicle", - "stationary object", + "vehicle following another vehicle too closely", + "vehicle at intersection facing another vehicle", + "vehicle turning at intersection with nearby pedestrians", + "group of people", + "a group of people", + "vehicle getting passed from the right", "pedestrians, strollers, or wheeled devices at a pedestrian crossing", "passenger vehicle turning left at intersection", "stroller with bollards on both sides" ], "648e8393-f46f-384b-9bd1-c25a2285077d": [ "jaywalking pedestrian", - "a group of people", - "pedestrian turning and watching the ego vehicle", + "vehicle turning right with pedestrian in front", "car turning right", "pedestrian on intersection not using a crosswalk", - "group of people", + "pedestrian between moving vehicles on both sides", "group of three people", "pedestrian near construction cone", + "left lane change while there is a vehicle to the left", "pedestrian walking between two stopped vehicles", "multiple pedestrians crossing ahead" ], "58d01358-5927-36fa-9e11-d18d1dc1f4f0": [ "pedestrian with multiple dogs", - "passenger vehicle turning left at intersection", - "vehicle changing lanes to the right", + "vehicle facing and heading toward pedestrian group", + "vehicle being followed by ego vehicle while being overtaken on right", + "objects getting closer to the ego vehicle", + "vehicle being tailgated while approaching stopped traffic", "vehicle making a right turn", - "passenger vehicle turning right", - "regular vehicle turning right", - "stopped vehicle facing a turning vehicle between 5-20 meters away", + "the vehicle two cars in front of the ego vehicle", "vehicle approaching and facing a stopped vehicle at an intersection", "vehicle braking near pedestrian crossing", "vehicle accelerating aggressively" ], "713ac3dd-8777-373d-b87d-f3dd9820320e": [ + "bicycle passing by parked vehicle", + "ego vehicle with vehicles on both sides", "unattended dog", - "stationary object", "moving bicycle directly to the left of the ego vehicle", "dog", "object that hasn't moved", + "bicycle in vehicle lane with vehicle", "dog near pedestrian", - "pedestrian to the back-right of the ego vehicle", - "bicycle sharing lane as a regular vehicle", "vehicle being overtaken on the left", "vehicle making a right turn" ], "7ce85124-312b-35f0-a1a2-32206f75a947": [ "car with a stroller to its left", + "object that hasn't moved", "stroller", - "pedestrian near bollard", - "dog near an intersection", - "dog", - "pedestrian walking alongside bollard", - "vehicle facing away from the ego vehicle", + "vehicle with a bicycle to its right", + "ego vehicle with parked bicycles ahead", + "parked vehicle", + "vehicle within 5 meters of a bicycle", "pedestrian walking with stroller", "vehicle moving at crawling speed", "vehicle facing and heading toward pedestrian group" ], "5d062611-5417-3405-997c-1d1aefe4d85f": [ + "objects getting closer to the ego vehicle", + "pedestrian crossing in front of cyclist near intersection", "school bus on intersection", - "stop sign behind a pedestrian", - "vehicle two vehicles ahead is turning", + "vehicle turning right with pedestrian in front", "vehicle turning right with pedestrian waiting", - "vehicle facing the ego vehicle", "vehicle turning left with a bicycle in front of it", - "vehicle turning at intersection with nearby pedestrians", "vehicle turning left while pedestrian crosses at crosswalk", + "passenger vehicle turning left at intersection", "vehicle turning while pedestrian crosses with stroller", "vehicle passing school bus at stop" ], "f2b0585b-ada3-3123-963e-14df7d96ca9e": [ + "vehicle two cars ahead is braking", + "pedestrian to the back-right of the ego vehicle", "motorcycle at stop sign", - "motorcycle or pedestrian within 5 meters to the right", "motorcycle near stop sign", - "any vehicle in front of stop sign", + "vehicle being overtaken on the left", "vehicle two vehicles ahead is being crossed by a pedestrian", - "ego vehicle near construction cone", - "pedestrian walking alongside bollard", + "the vehicle two cars behind the ego vehicle", "pedestrian crossing between bollards", "car turning right", "at least active 2 vehicles within 15 meters behind ego vehicle" ], "d8bd6071-f3ae-31fd-866a-9e6e4d6519e2": [ - "making a left lane change while there is a vehicle to the right", "moving bus to the front-left of the ego vehicle", + "bus within 5 meters to either side of ego vehicle", "bus with multiple pedestrians waiting on the right side", "car driving in bus lane", - "bus with at least 3 pedestrians within 5 meters", + "group of pedestrians ahead of the ego vehicle", "pedestrian crossing in front of vehicle at crosswalk", + "bus making right turn", "bus in bus lane", - "vehicle accelerating aggressively", "passenger vehicle turning right", "pedestrian approaching a parked vehicle" ], "c8cdffb0-7942-3ff5-9f71-210e095e1d31": [ + "ego vehicle approaching crossing pedestrians", "truck in the same lane as a bus", + "pedestrian walking with stroller", "truck changing lanes to the right", - "pedestrian crossing ahead of ego vehicle", "pedestrian walking alongside stopped bus", "vehicle turning right next to pedestrian with stroller", "vehicle passing truck with pedestrian crossing ahead", "bus with multiple pedestrians waiting on the right side", - "parked box trucks", "pedestrian between moving vehicles on both sides", "vehicle two vehicles ahead is at a stop sign" ], "c7f5e5c1-dc52-3619-8998-420b2e280d8a": [ "vehicle accelerating towards pedestrian crossing", - "vehicle being overtaken on the right", - "ego vehicle following vehicle being overtaken on right", + "the active vehicle in front of the vehicle ahead", "vehicle near construction barrel", - "vehicle being passed on the left by another vehicle", "motorcyclist braking hard", "vehicle accelerating aggressively", + "vehicle at intersection facing another vehicle", "two cars back from the ego vehicle", + "the vehicle two cars in front of the ego vehicle", "vehicle turning right with pedestrian in front", "passenger vehicle turning right" ], @@ -5653,13 +5653,13 @@ ], "adcf7d18-0510-35b0-a2fa-b4cea13a6d76": [ "truck in the same lane as a bus", - "ego vehicle approaching stopped delivery truck", + "vehicle within 5 meters of a bicycle", "bus in bus lane", - "pedestrian to the back-right of the ego vehicle", - "pedestrians using designated crossing", + "bus within 5 meters to either side of ego vehicle", + "ego vehicle near construction cone", + "ego vehicle following vehicle that is being overtaken on the right", "bus changing lanes", "bus in the same lane as a truck", - "vehicle being passed on the left by another vehicle", "pedestrian walking alongside stopped bus", "truck swerving near construction cones" ], @@ -5668,105 +5668,105 @@ "truck cab with trailer sharing lane with regular vehicle", "box truck braking in front of ego vehicle", "semi truck within 30 meters ahead of ego vehicle", - "bus within 5 meters to either side of ego vehicle", - "accelerating passenger vehicle", "parked box trucks", + "making a left lane change while there is a vehicle to the right", "ego vehicle near bollard", + "ego vehicle following vehicle being overtaken on right", "multiple buses within 50 meters ahead", "pedestrian on intersection not using a crosswalk" ], "3ea6b5a0-510a-3157-ba88-5124d61280b0": [ - "oncoming vehicle changing lanes", - "ego vehicle two cars ahead of another vehicle", + "vehicle changing lanes while on an intersection", + "vehicle at intersection facing another vehicle", "vehicle accelerating more than two meters per second", - "passenger vehicle swerving left", - "object that hasn't moved", - "at least active 2 vehicles within 15 meters behind ego vehicle", + "vehicle directly facing a moving pedestrian from 5-15 meters away", + "vehicle following another vehicle too closely", + "vehicle getting passed from the right", + "ego vehicle with vehicles on both sides", "vehicle facing toward parked vehicles", - "two cars back from the ego vehicle", "stopped vehicles at intersection being crossed by pedestrians", "vehicle changing lanes while in bike lane" ], "d2c6775c-e0a0-3460-b1b8-8d0ce2e0ae4e": [ - "motorcycle or pedestrian within 5 meters to the right of the ego vehicle", + "vehicles being passed by a motorcycle on either side", "motorcycle near construction cone", + "vehicle changing lanes to the right", "ego vehicle with box truck ahead and motorcycle behind", "motorcycle overtaking a vehicle", - "vehicle being passed on the left by another vehicle", - "motorcycle or pedestrian within 5 meters to the right", + "vehicle crossing path of another vehicle", "ego vehicle approaching stopped delivery truck", - "vehicle being overtaken on the right", + "vehicle directly facing a moving pedestrian from 5-15 meters away", "the vehicle behind another vehicle being crossed by a jaywalking pedestrian", "pedestrian crossing at bollard" ], "cd2353c2-0fb6-3e18-8281-4c0df1d3189a": [ "dog near pedestrian", - "two cars back from the ego vehicle", - "bicyclist riding in vehicle lane", - "bicycle on intersection", - "the vehicle two cars in front of the ego vehicle", + "dog near an intersection", + "pedestrian walking with dog on sidewalk", "dog on roadway", + "bicycle traveling with vehicle traffic", + "bicycle in vehicle lane with vehicle", "bicycle in same lane as a vehicle", "bicycle sharing lane as a regular vehicle", "group of three people", "bicycle traveling alongside parked vehicles" ], "3c51357e-f6e9-3cda-9036-fe6e6cd442fe": [ - "pedestrian crossing at bollard", - "stopped vehicles at intersection being crossed by pedestrians", "vehicle accelerating while changing lanes", "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters", "pedestrian crossing in front of vehicle at crosswalk", + "vehicle two cars ahead is changing lanes", "left lane change while there is a vehicle to the left", + "group of three people", "vehicle traveling over 20 meters per second", - "pedestrian near construction cone", + "pedestrian walking alongside bollard", "construction barrel with at least 2 construction cones within 3 meters", "pedestrian in front of a bicyclist who is to the left of a vehicle" ], "aa539866-29e4-353e-95a9-b6d321b53b33": [ "bicycle near traffic cone", + "vehicle in close proximity to bicycle", "bicycle near a bus", - "bus within 5 meters to either side of ego vehicle", "pedestrian crossing between bollards", - "bicycle following closely behind a vehicle", "multiple buses within 50 meters ahead", + "bus with at least 3 pedestrians within 5 meters", "pedestrian on road not facing traffic", "bus with another bus in its lane", "vehicle two cars ahead is changing lanes", "vehicle making a right turn" ], "84bb4b17-e7f2-3a1b-8c2b-6d6ec9a23e31": [ - "jaywalking pedestrian", "ego vehicle near bollard", "motorcycle or pedestrian within 5 meters to the right of the ego vehicle", - "motorcycle or pedestrian within 5 meters to the right", - "motorcycle between two vehicles", + "regular vehicle turning right", "passenger vehicle swerving left", "motorcycle between stopped vehicles", "passenger vehicle turning left at intersection", + "passenger vehicle turning right", + "pedestrian facing toward ego vehicle", "vehicle approaching multiple pedestrians at crosswalk", "group of three people" ], "00a6ffc1-6ce9-3bc3-a060-6006e9893a1a": [ - "vehicle accelerating more than two meters per second", "bus in bus lane", - "vehicle being crossed by a pedestrian", + "oncoming vehicle changing lanes", + "moving bus to the front-left of the ego vehicle", + "the vehicle behind another vehicle being crossed by a jaywalking pedestrian", "car driving in bus lane", "vehicle with multiple construction cones on the left side", - "pedestrian facing toward the bus", - "pedestrian on intersection not using a crosswalk", + "making a left lane change while there is a vehicle to the right", "pedestrian walking alongside stopped bus", "vehicle two vehicles ahead is turning", "ego vehicle in dense traffic with lane-changing vehicles" ], "2a9b2658-097e-3f8b-a817-22f2553c5de8": [ - "passenger vehicle turning right", + "the vehicle two cars in front of the ego vehicle", "ego vehicle changing lanes to the right with a vehicle ahead", + "pedestrians facing each other at close range, possibly conversing", + "passenger vehicle turning left at intersection", "vehicle two vehicles ahead is being crossed by a pedestrian", "the vehicle behind another vehicle being crossed by a jaywalking pedestrian", - "vehicle turning at intersection with nearby pedestrians", "pedestrian crossing in front of vehicle at crosswalk", - "vehicle two cars ahead is being crossed by a pedestrian", "stopped vehicles at intersection being crossed by pedestrians", "two cars back from the ego vehicle", "vehicle two vehicles ahead is changing lanes" @@ -5774,34 +5774,34 @@ "72c31859-3676-3cbb-a773-0591d8d5799e": [ "pedestrian crossing at bollard", "vehicle being crossed by a pedestrian", + "the vehicle behind another vehicle being crossed by a jaywalking pedestrian", + "multiple pedestrians crossing ahead", "motorcycle between two vehicles", - "regular vehicles that are stopped or nearly stopped", - "stopped car", "pedestrian crossing ahead of ego vehicle", - "vehicle being overtaken while approaching another vehicle", - "ego vehicle near bollard", + "motorcycle or pedestrian within 5 meters to the right", + "ego vehicle approaching crossing pedestrians", "oncoming vehicle changing lanes", "vehicle two cars ahead is braking" ], "c990cafc-f96c-3107-b213-01d217b11272": [ - "dog near pedestrian", - "ego vehicle approaching pedestrian at crosswalk", - "moving bus to the front-left of the ego vehicle", + "vehicle being overtaken on the left", + "vehicle navigating near multiple bicycles", "pedestrians facing each other at close range, possibly conversing", - "dog", "bicycle behind a bus", - "pedestrian walking past right side of vehicle", + "the vehicle two cars behind the ego vehicle", "bicycle near a bus", + "dog near an intersection", + "vehicle crossing path of another vehicle", "group of people", "ego vehicle merging between two regular vehicles" ], "6aa2ac89-6b25-3af6-ad59-221351189f4b": [ - "vehicle to the back right of the ego vehicle", - "pedestrian facing toward the bus", - "pedestrian facing toward ego vehicle", - "object that hasn't moved", - "vehicle sharing a lane with another vehicle", + "vehicle being overtaken while approaching another vehicle", + "multiple buses within 50 meters ahead", "passenger vehicle turning left at intersection", + "moving bus to the front-left of the ego vehicle", + "stopped vehicle facing a turning vehicle between 5-20 meters away", + "vehicle being overtaken on the right", "city bus", "ego vehicle near articulated bus", "two cars back from the ego vehicle", @@ -5810,240 +5810,240 @@ "f84b4941-8e99-3957-b6f6-db1590338cf6": [ "parked box trucks", "vehicle at a stop sign", - "stationary construction barrel", "construction item on road", - "box truck braking in front of ego vehicle", - "vehicle near construction barrel", + "ego vehicle near construction cone", + "the vehicle two cars behind the ego vehicle", + "ego vehicle approaching stopped delivery truck", "vehicle stopped at construction barrel", "ego vehicle near construction barrel", "the active vehicle in front of the vehicle ahead", "pedestrian to the left of a truck" ], "b1a98ad6-9b3e-35fb-afae-70b279fcbfc0": [ - "vehicle in close proximity to bicycle", + "a group of people", "motorcycle between two vehicles", "vehicle with a bicycle to its right", "motorcycle between stopped vehicles", "moving pedestrian within 3 meters to the left of ego vehicle", - "vehicle getting passed from the right", - "pedestrian near construction cone", + "vehicle near multiple bollards", "bicycle near traffic cone", + "vehicle within 5 meters of a bicycle", "pedestrian walking between two stopped vehicles", "vehicle accelerating on intersection" ], "2b044433-ddc1-3580-b560-d46474934089": [ "ego vehicle near bollard", "vehicle two vehicles ahead is being crossed by a pedestrian", + "pedestrians facing each other at close range, possibly conversing", + "vehicle two cars ahead is being crossed by a pedestrian", "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters", - "pedestrian facing toward the bus", + "ego vehicle approaching crossing pedestrians", "pedestrian crossing at bollard", - "pedestrian crossing in front of vehicle at crosswalk", - "pedestrian crossing between bollards", "dog on roadway", "bus with at least 3 pedestrians within 5 meters", "pedestrian walking with dog on sidewalk" ], "49a9df80-ab0a-31fb-9341-a79f7b0258dd": [ - "vehicle making a right turn", - "pedestrian on intersection not using a crosswalk", + "vehicle approaching pedestrians waiting at a crosswalk", + "ego vehicle near bollard", + "objects getting closer to the ego vehicle", "ego vehicle near construction cone", - "group of three people", - "vehicle turning at intersection with nearby pedestrians", - "stopped vehicle facing a turning vehicle between 5-20 meters away", - "ego vehicle approaching cyclist in same lane", + "vehicle being tailgated while approaching stopped traffic", + "pedestrian crossing in front of cyclist near intersection", + "bicycle near traffic cone", "bicycle and vehicle traveling in bike lane", - "vehicles approaching stopped school bus with children nearby", - "vehicle turning right at stop sign" + "ego vehicle approaching crossing pedestrians", + "bicyclist within 3 meters on either side" ], "35a15c5c-fa4a-3838-a724-396e112ec95c": [ "vehicle two vehicles ahead is turning", - "group of pedestrians ahead of the ego vehicle", - "pedestrian near bollard", - "pedestrian turning and watching the ego vehicle", + "vehicle turning right with pedestrian in front", + "two cars back from the ego vehicle", + "vehicle accelerating while changing lanes", + "vehicle in close proximity to bicycle", "vehicle turning right with pedestrian waiting", "pedestrian near construction cone", "regular vehicle turning right", - "group of three people", "bicycle near traffic cone", "pedestrian near stop sign" ], "08734a1b-0289-3aa3-a6ba-8c7121521e26": [ "motorcyclist", - "bicyclist riding in vehicle lane", "motorcycle or pedestrian within 5 meters to the right", - "bicycle on intersection", - "motorcycle between stopped vehicles", - "vehicles being passed by a motorcycle on either side", "motorcyclist traveling opposite to bicycle traffic", - "bicycle facing toward a vehicle", + "motorcycle or pedestrian within 5 meters to the right of the ego vehicle", + "bicycle following closely behind a vehicle", + "bicycle facing toward moving traffic", + "the vehicle behind another vehicle being crossed by a jaywalking pedestrian", + "motorcycle between two vehicles", "motorcycle overtaking a vehicle", "ego vehicle near construction cone" ], "7d3f2f76-2f4f-3762-bf0f-f94f79eb0404": [ - "pedestrian to the back-right of the ego vehicle", "vehicle with multiple bicycles ahead", "stationary construction barrel", "multiple buses within 50 meters ahead", "pedestrians using designated crossing", - "passenger vehicle turning right", + "dog", "vehicle approaching stopped vehicle at intersection", - "pedestrian between moving vehicles on both sides", + "motorcycle or pedestrian within 5 meters to the right of the ego vehicle", + "motorcycle or pedestrian within 5 meters to the right", "vehicle stopped at a stop sign", "pedestrian in front of a bicyclist who is to the left of a vehicle" ], "12c3c14b-9cf2-3434-9a5d-e0bfa332f6ce": [ "school bus on intersection", - "vehicle two vehicles ahead is changing lanes", + "pedestrian near stop sign", + "pedestrian walking with dog on sidewalk", "dog near pedestrian", "box trucks within 10 meters of an intersection", "dog", - "vehicle accelerating while changing lanes", "school bus at pedestrian crossing", - "left lane change while there is a vehicle to the left", + "truck on intersection", "pedestrian walking alongside stopped bus", "vehicle being followed by ego vehicle while being overtaken on right" ], "db447b86-8103-3ee4-93de-2c838ba061dc": [ - "truck on intersection", + "ego vehicle two cars ahead of another vehicle", "vehicle with multiple construction cones on the left side", "stop sign behind a pedestrian", - "the vehicle two cars in front of the ego vehicle", "pedestrian to the left of a truck", - "the vehicle two cars behind the ego vehicle", + "pedestrian near stop sign", + "stopped car", "ego vehicle approaching stopped truck", - "regular vehicles that are stopped or nearly stopped", + "pedestrian to the back-right of the ego vehicle", "ego vehicle near construction cone", "vehicle being tailgated while approaching stopped traffic" ], "a50b198c-4de2-3f8c-a2b9-ab280605b350": [ "bus with multiple pedestrians waiting on the right side", - "vehicle with multiple pedestrians to the left", + "the vehicle two cars behind the ego vehicle", + "pedestrian turning and watching the ego vehicle", "vehicle changing lanes through bike lane", - "pedestrian near construction cone", "motorcycle or pedestrian within 5 meters to the right of the ego vehicle", "vehicle changing lanes while in bike lane", + "ego vehicle approaching pedestrian at crosswalk", "bus changing lanes", - "a group of people", "motorcycle overtaking a vehicle", "vehicle being overtaken on the right" ], "71d1938d-536e-39eb-beb4-bb4f5b607427": [ "truck cab with trailer sharing lane with regular vehicle", - "pedestrian crossing in front of vehicle at crosswalk", "semi truck within 30 meters ahead of ego vehicle", + "bicycle facing toward moving traffic", "motorcyclist braking hard", "truck without trailer", + "bicycle facing toward a vehicle", "bicycle passing by parked vehicle", "bicycle traveling alongside parked vehicles", - "parked box trucks", "regular vehicle turning right", "bicyclist riding in vehicle lane" ], "63a006b5-07c8-375d-98e3-21466f5b9c6a": [ + "jaywalking pedestrian", "multiple pedestrians crossing ahead", - "pedestrian crossing ahead of ego vehicle", + "dog near pedestrian", "ego vehicle approaching pedestrian at crosswalk", "moving pedestrian within 3 meters to the left of ego vehicle", "dog near an intersection", - "ego vehicle approaching crossing pedestrians", "vehicle stopped at a stop sign", - "dog", + "stopped vehicles at intersection being crossed by pedestrians", "ego vehicle following vehicle that is being overtaken on the right", "vehicle turning right with pedestrian waiting" ], "c85ebc24-0934-3423-9c14-f0fdbee64b68": [ + "vehicle facing toward parked vehicles", "vehicle changing lanes through bike lane", - "vehicle being crossed by a pedestrian", - "pedestrian walking past right side of vehicle", - "vehicle behind another vehicle that has a pedestrian on its right side", "vehicle changing lanes while in bike lane", "the vehicle two cars in front of the ego vehicle", "vehicle two vehicles ahead is being crossed by a pedestrian", "vehicle two cars ahead is being crossed by a pedestrian", + "accelerating passenger vehicle", + "vehicle at intersection facing another vehicle", "regular vehicle turning right", "ego vehicle with parked bicycles ahead" ], "f648b945-6c70-3105-bd23-9502894e37d4": [ - "vehicle moving at crawling speed", "vehicle two cars ahead is braking", "vehicle two vehicles ahead is braking", "ego vehicle in dense traffic with lane-changing vehicles", - "turning left", - "at least active 2 vehicles within 15 meters behind ego vehicle", - "oncoming vehicle changing lanes", - "ego vehicle following vehicle being overtaken on right", + "vehicle being overtaken on the right", + "vehicle behind another vehicle that has a pedestrian on its right side", + "vehicle hard braking with another vehicle ahead", + "vehicle changing lanes while on an intersection", + "vehicle braking heavily", "moving pedestrian within 3 meters to the left of ego vehicle", "pedestrian between moving vehicles on both sides" ], "fb0c5970-dbf7-4c77-b3b6-2c8cc41b9d6f": [ - "vehicle moving at crawling speed", + "parked vehicle", + "pedestrians over 30 meters away", + "vehicle at intersection facing another vehicle", "vehicle facing toward parked vehicles", - "vehicle sharing a lane with another vehicle", "stationary construction barrel", - "vehicle to the back right of the ego vehicle", "box trucks within 10 meters of an intersection", - "ego vehicle two cars ahead of another vehicle", + "the vehicle two cars behind the ego vehicle", "turning left", "moving pedestrian within 3 meters to the left of ego vehicle", "truck on intersection" ], "7ca43466-7107-33ae-95d6-26d7af132e87": [ "left lane change while there is a vehicle to the left", - "ego vehicle with parked bicycles ahead", - "vehicle navigating near multiple bicycles", "pedestrian to the back-right of the ego vehicle", - "vehicle with a bicycle to its right", + "pedestrian facing toward ego vehicle", + "pedestrian between moving vehicles on both sides", "group of three people", "pedestrian near construction cone", - "pedestrian crossing in front of vehicle at crosswalk", + "jaywalking pedestrian", + "pedestrians using designated crossing", "vehicle two cars ahead is being crossed by a pedestrian", "vehicle changing lanes through bike lane" ], "991d11df-0265-3e41-b942-5b0c615d21e2": [ + "the vehicle two cars behind the ego vehicle", + "vehicle accelerating aggressively", "vehicle changing lanes to the right", "accelerating vehicle changing lanes to the right", "vehicle facing toward a pedestrian at a crosswalk", - "vehicle accelerating while changing lanes", "vehicle braking near jaywalking pedestrian or stroller", + "vehicle changing lanes", "vehicle being overtaken on the left", - "parked vehicle", - "passenger vehicle swerving left", "vehicle traveling over 20 meters per second", "vehicle approaching and facing a stopped vehicle at an intersection" ], "c94991c0-3662-3936-972c-1af63db486d8": [ + "vehicle facing the ego vehicle", "vehicle being overtaken on the left", - "vehicle accelerating more than two meters per second", - "vehicle changing lanes", + "two cars back from the ego vehicle", + "vehicle following another vehicle too closely", + "vehicle at intersection facing another vehicle", + "stroller", "ego vehicle following vehicle that is being overtaken on the right", "vehicle braking near jaywalking pedestrian or stroller", - "dog near pedestrian", - "pedestrian walking with stroller", - "vehicle being overtaken while approaching another vehicle", "pedestrian with multiple dogs", "bicycle between two vehicles traveling in same direction" ], "40870b19-3356-3e8e-a4a4-9f34eef8ea30": [ - "vehicle crossing path of another vehicle", - "parked vehicle", - "vehicle turning at intersection with nearby pedestrians", - "vehicle turning right with pedestrian in front", - "group of people", - "accelerating truck", - "the vehicle two cars in front of the ego vehicle", - "car turning right", - "ego vehicle changing lanes near construction zone", - "school bus at pedestrian crossing" + "vehicle maneuvering between construction barriers", + "school bus on intersection", + "vehicle passing school bus at stop", + "box truck changing lanes ahead", + "vehicle facing and heading toward pedestrian group", + "vehicle turning right near construction zone", + "box truck changing lanes to the right", + "vehicle approaching pedestrians waiting at a crosswalk", + "box truck in the same lane as a school bus", + "vehicles approaching stopped school bus with children nearby" ], "bb110668-5037-3c04-bd34-34cf1ace8d0f": [ - "vehicle within 5 meters of a bicycle", - "bicycle facing toward a vehicle", + "vehicle following another vehicle too closely", "ego vehicle approaching cyclist in same lane", "vehicle with a bicycle to its right", - "accelerating vehicle changing lanes to the right", + "pedestrian facing toward ego vehicle", "bicycle on intersection", + "truck on intersection", + "bicyclist riding in vehicle lane", "vehicle traveling over 20 meters per second", - "bicyclist on intersection", "pedestrian walking alongside bollard", "bicycle traveling alongside parked vehicles" ], @@ -6061,19 +6061,19 @@ ], "b5ea60b0-2540-4efe-b60e-f421ade3c128": [ "ego vehicle changing lanes near construction zone", - "vehicle within 5 meters of a bicycle", "bicycle near traffic cone", - "vehicle with a bicycle to its right", "ego vehicle changing lanes to the right with a vehicle ahead", + "ego vehicle near construction barrel", "construction item on road", + "stationary construction barrel", "vehicle in close proximity to bicycle", "vehicle stopped at construction barrel", "vehicle crossing path of another vehicle", "group of at least 3 moving bicyclists within 5 meters of each other" ], "f54c1d50-48a3-4651-bfb0-50b87f13dc9e": [ + "pedestrian to the left of a truck", "ego vehicle approaching stopped truck", - "vehicle with multiple construction cones on the left side", "construction barrel with at least 2 construction cones within 3 meters", "vehicle changing lanes near message board trailer", "vehicle near message board trailer", @@ -6084,35 +6084,35 @@ "pedestrian near message board trailer" ], "8c019de9-7043-37bc-9498-b5858e7240af": [ - "vehicle braking heavily", "vehicle being followed by ego vehicle while being overtaken on right", - "stationary object", + "ego vehicle with vehicles on both sides", "vehicle getting passed from the right", + "object that hasn't moved", "passenger vehicle swerving left", - "pedestrians over 30 meters away", - "vehicle changing lanes while on an intersection", + "vehicle being overtaken on the right", + "ego vehicle in dense traffic with lane-changing vehicles", "accelerating vehicle changing lanes to the right", "bus with multiple pedestrians waiting on the right side", "moving bus to the front-left of the ego vehicle" ], "e123ba3f-99bd-3039-b6e7-8c62eaebf9c2": [ - "oncoming vehicle changing lanes", - "bicycle near traffic cone", "parked box trucks", + "making a left lane change while there is a vehicle to the right", "ego vehicle with parked bicycles ahead", "pedestrian near bollard", - "accelerating truck", - "parked vehicle", "vehicle passing truck with pedestrian crossing ahead", + "ego vehicle two cars ahead of another vehicle", + "ego vehicle with vehicles on both sides", + "box truck braking in front of ego vehicle", "pedestrian between moving vehicles on both sides", "box truck in bike lane" ], "5d391e54-adec-3584-adf0-5025d7564e1b": [ "vehicle facing and heading toward pedestrian group", - "vehicle sharing a lane with another vehicle", - "motorcyclist", + "vehicle moving at crawling speed", "ego vehicle changing lanes to the left", - "vehicle following another vehicle too closely", + "vehicle near construction barrel", + "vehicle facing away from the ego vehicle", "objects getting closer to the ego vehicle", "motorcycle between two vehicles", "vehicle being tailgated while approaching stopped traffic", @@ -6121,24 +6121,24 @@ ], "ab83611b-436e-3de7-aad1-f0c9ad254196": [ "pedestrian walking alongside stopped bus", + "vehicle being overtaken while approaching another vehicle", "vehicle stopped at a stop sign", + "active vehicle at stop sign", "motorcycle near construction cone", - "vehicle braking near jaywalking pedestrian or stroller", - "stroller", - "vehicle at a stop sign", + "vehicle two cars ahead is being crossed by a pedestrian", "vehicle with multiple construction cones on the left side", "pedestrian walking with stroller", "vehicle approaching stopped vehicle at intersection", "moving bus to the front-left of the ego vehicle" ], "453e5558-6363-38e3-bf9b-42b5ba0a6f1d": [ - "vehicle being followed by ego vehicle while being overtaken on right", - "vehicle making a right turn", + "pedestrian between moving vehicles on both sides", + "vehicle at a stop sign", + "regular vehicles that are stopped or nearly stopped", "pedestrian turning and watching the ego vehicle", - "any vehicle in front of stop sign", + "pedestrian near construction cone", "passenger vehicle turning left at intersection", "stopped vehicle facing a turning vehicle between 5-20 meters away", - "objects getting closer to the ego vehicle", "vehicle being tailgated while approaching stopped traffic", "ego vehicle changing lanes to the left", "vehicle two vehicles ahead is being crossed by a pedestrian" @@ -6146,21 +6146,21 @@ "bec0f69b-832c-3898-b589-0127ddc282f3": [ "vehicle changing lanes while on an intersection", "pedestrian crossing at bollard", - "ego vehicle following vehicle that is being overtaken on the right", - "ego vehicle two cars ahead of another vehicle", - "active vehicle at stop sign", + "pedestrian walking alongside bollard", + "vehicle being passed on the left by another vehicle", + "vehicle changing lanes", "pedestrian on intersection not using a crosswalk", + "vehicle changing lanes to the right", "moving pedestrian within 3 meters to the left of ego vehicle", - "vehicle with multiple pedestrians to the left", "pedestrian approaching a parked vehicle", "pedestrian to the back-right of the ego vehicle" ], "fdb0578d-4fa7-37a7-b60d-5472b4d39136": [ - "vehicle near construction barrel", - "vehicle accelerating while changing lanes", + "ego vehicle in dense traffic with lane-changing vehicles", "ego vehicle changing lanes to the right with a vehicle ahead", - "vehicle being crossed by a pedestrian", "ego vehicle changing lanes near construction zone", + "ego vehicle approaching stopped delivery truck", + "bicycle facing toward a vehicle", "vehicle stopped at construction barrel", "ego vehicle near construction barrel", "pedestrian to the left of a truck", @@ -6168,20 +6168,20 @@ "bicycle near traffic cone" ], "d0ba7a1b-f5ca-39d6-98d0-29c671baec65": [ + "vehicle being overtaken on the right", "vehicle braking near jaywalking pedestrian or stroller", - "truck on intersection", "passenger vehicle near stroller in road", - "vehicle turning left at intersection while sharing lane with a bus", + "vehicle approaching stopped vehicle at intersection", + "vehicle changing lanes", "vehicle passing truck with pedestrian crossing ahead", - "vehicle facing toward a pedestrian at a crosswalk", "vehicle turning right next to pedestrian with stroller", - "stroller", + "vehicle being overtaken on the left", "bicycle near a bus", "bus in bus lane" ], "098fe60e-bab0-32e2-89bc-bedced881911": [ "ego vehicle approaching stopped delivery truck", - "bicyclist on intersection", + "pedestrian to the back-right of the ego vehicle", "box truck braking in front of ego vehicle", "parked box trucks", "vehicle turning left with a bicycle in front of it", @@ -6192,62 +6192,62 @@ "pedestrian walking past right side of vehicle" ], "d72c43a5-95bf-3a3e-9019-cf25cc0a61c0": [ - "passenger vehicle swerving left", "vehicle crossing path of another vehicle", - "object that hasn't moved", - "making a left lane change while there is a vehicle to the right", - "vehicle directly facing a moving pedestrian from 5-15 meters away", + "vehicle two cars ahead is changing lanes", + "vehicle two vehicles ahead is changing lanes", + "stopped car", + "vehicle hard braking with another vehicle ahead", "ego vehicle following vehicle that is being overtaken on the right", "motorcycle between two vehicles", - "motorcyclist", + "vehicle changing lanes while on an intersection", "motorcycle in the same lane as a box truck", "vehicle two vehicles ahead is turning" ], "95a47a36-1041-3924-bbd0-4dcad52c323a": [ "vehicle with multiple construction cones on the left side", - "accelerating vehicle changing lanes to the right", + "pedestrian near bollard", "ego vehicle near bollard", - "pedestrian crossing between bollards", "pedestrian to the back-right of the ego vehicle", + "pedestrian crossing in front of vehicle at crosswalk", "motorcycle near construction cone", - "vehicle at a stop sign", - "regular vehicle turning right", + "pedestrian walking alongside bollard", + "vehicle navigating near multiple bicycles", "vehicle two vehicles ahead is braking", "ego vehicle changing lanes near bicycle while approaching stop sign" ], "76c3f58f-9003-3bdb-90a3-b87cfbfa1c3b": [ + "the vehicle behind another vehicle being crossed by a jaywalking pedestrian", "vehicles being passed by a motorcycle on either side", + "vehicle facing toward a pedestrian at a crosswalk", "vehicle near construction barrel", - "ego vehicle following vehicle that is being overtaken on the right", - "vehicle approaching stopped vehicle at intersection", - "jaywalking pedestrian", + "regular vehicle turning right", + "vehicle being followed by ego vehicle while being overtaken on right", "motorcycle changing lanes to the left near multiple vehicles", - "vehicle changing lanes while on an intersection", - "vehicle getting passed from the right", + "vehicle accelerating towards pedestrian crossing", "vehicle two cars ahead is changing lanes", "regular vehicle turning right" ], "73d86f1c-5e5c-3842-b671-7f29c78ccc55": [ + "passenger vehicle turning right", "ego vehicle changing lanes to the right with a vehicle ahead", - "vehicle changing lanes to the right", - "vehicle two vehicles ahead is turning", - "vehicle changing lanes", + "regular vehicles that are stopped or nearly stopped", "stopped car", "wheeled device (e.g., golf cart, segway) sharing a lane with a moving vehicle", "construction item on road", - "moving bus to the front-left of the ego vehicle", + "car turning right", + "stationary construction barrel", "vehicle two cars ahead is being crossed by a pedestrian", "pedestrian on intersection not using a crosswalk" ], "f4c6ade0-7b9e-4ad7-8d86-13d2f4c91499": [ - "ego vehicle in dense traffic with lane-changing vehicles", - "vehicle directly facing a moving pedestrian from 5-15 meters away", "passenger vehicle swerving left", "oncoming vehicle changing lanes", - "vehicle crossing path of another vehicle", - "vehicle hard braking with another vehicle ahead", - "group of pedestrians ahead of the ego vehicle", - "ego vehicle with vehicles on both sides", + "vehicle being overtaken on the left", + "vehicle accelerating on intersection", + "vehicle being passed on the left by another vehicle", + "vehicle being overtaken on the right", + "vehicle being overtaken while approaching another vehicle", + "vehicle within 5 meters of a bicycle", "vehicle navigating near multiple bicycles", "bus within 5 meters to either side of ego vehicle" ], @@ -6264,14 +6264,14 @@ "vehicle two vehicles ahead is turning" ], "64b24fd1-f639-4f7e-a535-dbfe9fd737a1": [ - "vehicle to the back right of the ego vehicle", - "regular vehicle turning right", "vehicle turning at intersection with nearby pedestrians", + "stopped vehicle facing a turning vehicle between 5-20 meters away", "passenger vehicle turning right", - "a group of people", + "car turning right", + "stopped car", "vehicle directly facing a moving pedestrian from 5-15 meters away", "vehicle making a right turn", - "pedestrians over 30 meters away", + "objects getting closer to the ego vehicle", "group of three people", "bicycle traveling against traffic" ], @@ -6280,116 +6280,116 @@ "motorcycle near construction cone", "motorcyclist traveling opposite to bicycle traffic", "bicyclist changing lanes to the right", - "bicycle traveling alongside parked vehicles", "bicycle passing by parked vehicle", - "bicycle sharing lane as a regular vehicle", - "bicycle near traffic cone", + "pedestrian crossing at bollard", + "vehicle accelerating towards pedestrian crossing", + "motorcycle between stopped vehicles", "vehicle turning right with pedestrian in front", "motorcyclist braking hard" ], "29080565-8133-3274-80cf-6ea98078e50d": [ + "vehicle accelerating on intersection", "ego vehicle approaching stopped delivery truck", - "vehicle two vehicles ahead is turning", - "vehicle being passed on the left by another vehicle", + "vehicle accelerating more than two meters per second", "pedestrian to the left of a truck", - "any vehicle in front of stop sign", - "box trucks within 10 meters of an intersection", - "active vehicle at stop sign", + "vehicle at a stop sign", + "truck on intersection", + "vehicle stopped at a stop sign", "parked box trucks", "pedestrians facing each other at close range, possibly conversing", "vehicle passing truck with pedestrian crossing ahead" ], "b6c86134-d7e6-3af6-9db5-8aba3df4f7a7": [ "pedestrian walking with stroller", + "vehicle two vehicles ahead is being crossed by a pedestrian", "car driving in bus lane", + "pedestrian walking past right side of vehicle", "vehicle braking near jaywalking pedestrian or stroller", - "vehicle two cars ahead is being crossed by a pedestrian", - "pedestrian near construction cone", "stroller", - "vehicle facing toward a pedestrian at a crosswalk", - "multiple pedestrians crossing ahead", + "vehicle being crossed by a pedestrian", + "pedestrians using designated crossing", "making a left lane change while there is a vehicle to the right", "vehicle two cars ahead is braking" ], "b5f3900c-b421-3032-aef2-2e91a69d1163": [ - "bicycle in vehicle lane with vehicle", + "motorcycle between two vehicles", "bicycle crossing vehicle path at intersection", - "bicycle on intersection", + "car following closely behind bicyclist", "bicycle traveling against traffic", "bicyclist on intersection", + "bicyclist riding in vehicle lane", "bicycle traveling alongside parked vehicles", - "bicycle in same lane as a vehicle", "pedestrian in front of a bicyclist who is to the left of a vehicle", "pedestrian approaching a parked vehicle", "vehicle turning left with a bicycle in front of it" ], "74ec2f62-9d57-39a9-bf88-97006f64ee5c": [ + "pedestrian on intersection not using a crosswalk", "multiple motorcycles ahead of the ego vehicle", - "vehicle with multiple pedestrians to the left", + "vehicle being overtaken while approaching another vehicle", "pedestrian crossing between bollards", "bus with another bus in its lane", + "ego vehicle approaching pedestrian at crosswalk", "pedestrian walking alongside bollard", - "vehicle crossing path of another vehicle", "ego vehicle near bollard", - "vehicle being overtaken on the right", "motorcycle near stop sign", "pedestrian crossing at bollard" ], "b0663029-8f8d-398a-8a28-81ba29224696": [ "pedestrians, strollers, or wheeled devices at a pedestrian crossing", + "pedestrian crossing in front of vehicle at crosswalk", "pedestrian in front of a bicyclist who is to the left of a vehicle", - "stroller", + "motorcycle or pedestrian within 5 meters to the right of the ego vehicle", "pedestrian walking with stroller", "pedestrian crossing at bollard", - "pedestrian walking alongside stopped bus", - "vehicle braking near jaywalking pedestrian or stroller", - "pedestrians using designated crossing", + "vehicle changing lanes while on an intersection", + "motorcycle or pedestrian within 5 meters to the right", "pedestrian crossing ahead of ego vehicle", "bicycle between two vehicles traveling in same direction" ], "e7547e4c-1ebc-3428-8964-a5b91e81098e": [ "vehicle accelerating more than two meters per second", + "object that hasn't moved", "city bus", - "vehicle accelerating on intersection", - "vehicle accelerating aggressively", - "vehicle changing lanes", + "ego vehicle in dense traffic with lane-changing vehicles", + "vehicle sharing a lane with another vehicle", "vehicle turning left with a bicycle in front of it", - "turning left", - "the active vehicle in front of the vehicle ahead", + "oncoming vehicle changing lanes", + "parked vehicle", "vehicle being tailgated while approaching stopped traffic", "ego vehicle two cars ahead of another vehicle" ], "79cb0109-4c92-3ede-8849-76cc6824b95a": [ "bicyclist changing lanes to the right", - "the vehicle behind another vehicle being crossed by a jaywalking pedestrian", "motorcycle between two vehicles", - "bicycle in same lane as a vehicle", "motorcyclist", "motorcycle passing between parked vehicles", "bicycle crossing vehicle path at intersection", + "vehicle accelerating towards pedestrian crossing", + "bicycle in vehicle lane with vehicle", "motorcycle between stopped vehicles", "vehicle two cars ahead is braking", "bicyclist within 3 meters on either side" ], "429dedd9-2d51-385d-9661-b15f4027e34d": [ - "oncoming vehicle changing lanes", - "jaywalking pedestrian", + "vehicle approaching and facing a stopped vehicle at an intersection", + "vehicle changing lanes near message board trailer", "pedestrian near construction cone", - "accelerating passenger vehicle", - "active vehicle at stop sign", - "the vehicle two cars in front of the ego vehicle", - "truck on intersection", - "objects getting closer to the ego vehicle", - "stroller with bollards on both sides", - "pedestrians, strollers, or wheeled devices at a pedestrian crossing" + "pedestrian between moving vehicles on both sides", + "box truck changing lanes to the left", + "vehicle facing and heading toward pedestrian group", + "pedestrian to the left of a truck", + "pedestrians facing each other at close range, possibly conversing", + "pedestrian near message board trailer", + "stroller with bollards on both sides" ], "e331aa95-3660-3c71-be9e-030bab0b8ee2": [ + "pedestrian walking alongside bollard", "vehicle passing stopped truck with pedestrian nearby", "ego vehicle approaching stopped truck", "vehicle accelerating while changing lanes", - "the vehicle two cars behind the ego vehicle", - "pedestrians using designated crossing", - "turning left", + "group of pedestrians ahead of the ego vehicle", + "pedestrian near bollard", "truck on intersection", "vehicle with multiple construction cones on the left side", "ego vehicle approaching crossing pedestrians", @@ -6398,130 +6398,130 @@ "b436606f-daa4-337f-8103-4360bf4704d9": [ "bus changing lanes", "ego vehicle changing lanes to the right with a vehicle ahead", + "ego vehicle near construction cone", "accelerating truck", - "truck on intersection", - "stop sign behind a pedestrian", + "moving bus to the front-left of the ego vehicle", "bus within 5 meters to either side of ego vehicle", - "vehicle two cars ahead is changing lanes", + "pedestrian near stop sign", "truck changing lanes to the right", "box truck changing lanes ahead", "bus in bus lane" ], "fd4e2c4c-f7e9-3110-8e32-28d3add3937d": [ - "vehicle accelerating more than two meters per second", + "turning left", "vehicle braking heavily", "vehicle with multiple pedestrians to the left", - "pedestrians over 30 meters away", + "the active vehicle in front of the vehicle ahead", + "active vehicle at stop sign", "vehicle turning right at stop sign", + "at least active 2 vehicles within 15 meters behind ego vehicle", "any vehicle in front of stop sign", - "ego vehicle two cars ahead of another vehicle", - "vehicle at a stop sign", "vehicle being crossed by a pedestrian", "pedestrian near bollard" ], "0c143226-9c39-387c-a935-1391bed6dc75": [ + "bicyclist on intersection", "construction item on road", - "bicycle on intersection", - "bicycle following closely behind a vehicle", "bus making right turn", "bicyclist within 3 meters on either side", "ego vehicle approaching cyclist in same lane", + "vehicle accelerating aggressively", "bus changing lanes", "bicyclist riding in vehicle lane", "stopped vehicle facing a turning vehicle between 5-20 meters away", "motorcycle near stop sign" ], "c67a748c-1e93-3a6d-be38-daedf175f911": [ - "pedestrian in front of a bicyclist who is to the left of a vehicle", + "bicycle facing toward moving traffic", "bicycle in vehicle lane with vehicle", - "bicycle traveling with vehicle traffic", + "vehicle with multiple bicycles ahead", "car following closely behind bicyclist", "bicycle sharing lane as a regular vehicle", "bicycle in same lane as a vehicle", - "group of people", - "bicyclist riding in vehicle lane", + "bicycle near traffic cone", + "vehicles being passed by a motorcycle on either side", "vehicle passing stopped truck with pedestrian nearby", "vehicle between two bicycles while on pedestrian crossing" ], "dad3e145-2f70-357f-813e-703936927fe2": [ "the active vehicle in front of the vehicle ahead", - "pedestrian walking with dog on sidewalk", - "pedestrian to the back-right of the ego vehicle", + "object that hasn't moved", "pedestrian to the left of a truck", + "regular vehicles that are stopped or nearly stopped", + "dog near pedestrian", + "pedestrian facing toward ego vehicle", "stationary object", - "pedestrian crossing in front of vehicle at crosswalk", - "vehicle hard braking with another vehicle ahead", - "stopped car", + "ego vehicle approaching pedestrian at crosswalk", "regular vehicle turning right", "pedestrian on road not facing traffic" ], "52c9e613-61b3-3d17-9f6d-b28de8a14829": [ - "vehicle two vehicles ahead is turning", - "vehicle making a right turn", "vehicle turning right near construction zone", - "motorcyclist", - "passenger vehicle turning left at intersection", - "accelerating vehicle changing lanes to the right", - "car turning right", + "stationary construction barrel", + "stopped vehicle facing a turning vehicle between 5-20 meters away", + "left lane change while there is a vehicle to the left", + "objects getting closer to the ego vehicle", "ego vehicle approaching construction barrels with a vehicle turning right ahead", - "vehicle stopped at construction barrel", - "ego vehicle changing lanes near construction zone" + "bicycle near traffic cone", + "vehicle being tailgated while approaching stopped traffic", + "vehicle approaching multiple pedestrians at crosswalk", + "vehicle stopped at construction barrel" ], "99a3270d-c5c5-3df7-9a2d-a612c8104d0e": [ "moving pedestrian within 3 meters to the left of ego vehicle", "motorcycle or pedestrian within 5 meters to the right of the ego vehicle", - "parked vehicle", - "regular vehicle turning right", + "group of people", + "group of pedestrians ahead of the ego vehicle", "motorcycle or pedestrian within 5 meters to the right", - "pedestrians facing each other at close range, possibly conversing", "pedestrian with multiple dogs", - "dog near an intersection", + "pedestrian to the back-right of the ego vehicle", + "object that hasn't moved", "motorcycle in bike lane", "oncoming vehicle changing lanes" ], "66a40dcc-4de0-3f72-bff0-ca543ac5019d": [ "vehicle turning right with pedestrian in front", "car turning right", - "vehicle to the back right of the ego vehicle", - "pedestrian crossing ahead of ego vehicle", + "vehicle making a right turn", + "dog", "vehicle traveling in the same direction as the ego vehicle", "vehicle turning at intersection with nearby pedestrians", "unattended dog", - "ego vehicle approaching crossing pedestrians", + "pedestrian turning and watching the ego vehicle", "dog near pedestrian", "pedestrian on intersection not using a crosswalk" ], "95acebfe-c694-3dab-9e6d-01cb501ff426": [ "vehicle near multiple bollards", "vehicle traveling in the same direction as the ego vehicle", - "any vehicle in front of stop sign", + "vehicle facing toward parked vehicles", "truck sharing a lane with another truck", - "vehicle traveling in the opposite direction as the ego vehicle", + "vehicle facing the ego vehicle", "active vehicle at stop sign", - "vehicle to the back right of the ego vehicle", "vehicle stopped at a stop sign", + "vehicle moving at crawling speed", "vehicle two vehicles ahead is changing lanes", "turning left" ], "5c7ee953-d8b0-33ef-a491-0bb716763cfe": [ - "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters", - "vehicle being overtaken while approaching another vehicle", + "bus changing lanes", + "vehicle approaching pedestrians waiting at a crosswalk", + "bus in bus lane", + "objects getting closer to the ego vehicle", "truck in the same lane as a bus", - "vehicle following another vehicle too closely", "vehicle turning at intersection with nearby pedestrians", - "vehicle changing lanes to the right", - "vehicle being followed by ego vehicle while being overtaken on right", + "vehicle approaching multiple pedestrians at crosswalk", "vehicle turning left while pedestrian crosses at crosswalk", "vehicle braking heavily", "pedestrian crossing between stopped buses" ], "a783b484-437b-3569-bd44-4f83ad9e05cf": [ - "vehicle accelerating aggressively", - "ego vehicle in dense traffic with lane-changing vehicles", - "vehicle being overtaken while approaching another vehicle", - "vehicle being followed by ego vehicle while being overtaken on right", - "ego vehicle following vehicle being overtaken on right", - "making a left lane change while there is a vehicle to the right", + "vehicle changing lanes to the right", + "passenger vehicle swerving left", + "box trucks within 10 meters of an intersection", + "vehicle being overtaken on the left", + "truck on intersection", + "vehicle changing lanes while on an intersection", "vehicle accelerating towards pedestrian crossing", "vehicle two cars ahead is changing lanes", "pedestrian facing toward ego vehicle", @@ -6530,11 +6530,11 @@ "2583a8ee-867d-3db6-b039-35b913fb8f70": [ "vehicle stopped at construction barrel", "truck sharing a lane with another truck", - "bicycle following closely behind a vehicle", - "vehicle turning right with pedestrian in front", "parked box trucks", - "box trucks within 10 meters of an intersection", "vehicle turning right near construction zone", + "pedestrian crossing between bollards", + "group of three people", + "stationary construction barrel", "ego vehicle approaching stopped delivery truck", "semi truck within 30 meters ahead of ego vehicle", "ego vehicle changing lanes near construction zone" @@ -6544,9 +6544,9 @@ "vehicle facing toward parked vehicles", "truck without trailer", "vehicle getting passed from the right", - "vehicle with multiple pedestrians to the left", + "vehicle being crossed by a pedestrian", + "vehicle traveling in the opposite direction as the ego vehicle", "vehicle traveling in the same direction as the ego vehicle", - "making a left lane change while there is a vehicle to the right", "vehicle passing stopped truck with pedestrian nearby", "pedestrian walking alongside bollard", "vehicle accelerating while changing lanes" @@ -6554,48 +6554,48 @@ "4690ea1e-224a-35e9-a984-8332295f2b00": [ "vehicle being overtaken on the right", "accelerating passenger vehicle", + "bus with another bus in its lane", + "at least active 2 vehicles within 15 meters behind ego vehicle", "vehicle getting passed from the right", - "the active vehicle in front of the vehicle ahead", - "vehicle accelerating on intersection", - "vehicle facing away from the ego vehicle", - "vehicle two vehicles ahead is braking", + "vehicle following another vehicle too closely", + "vehicle with multiple pedestrians to the left", + "group of people", "accelerating vehicle changing lanes to the right", - "ego vehicle in dense traffic with lane-changing vehicles", - "vehicle two cars ahead is changing lanes" + "ego vehicle near mobile pedestrian sign" ], "8940f5f1-13e0-3094-99ba-da2d17639774": [ "bus with another bus in its lane", "vehicle braking at pedestrian crossing", - "ego vehicle near bollard", "bus with multiple pedestrians waiting on the right side", "vehicle braking near jaywalking pedestrian or stroller", "construction item on road", "vehicle braking near pedestrian crossing", "ego vehicle near stroller on sidewalk", + "stroller", "multiple pedestrians crossing ahead", "car turning right" ], "f5a3ee79-a131-3f8a-91e9-a6475d778149": [ "bus making right turn", "pedestrian crossing between bollards", - "pedestrian walking with stroller", - "ego vehicle approaching crossing pedestrians", "vehicle turning left while pedestrian crosses at crosswalk", - "pedestrian walking alongside bollard", + "vehicle two cars ahead is changing lanes", "vehicle accelerating towards pedestrian crossing", + "bus within 5 meters to either side of ego vehicle", + "bus changing lanes", "unattended stroller", "ego vehicle changing lanes to the left", "ego vehicle passing parked bus" ], "3cd2847c-604e-32b4-af19-6cd0da0dcdc5": [ + "vehicle with multiple pedestrians to the left", + "vehicle crossing path of another vehicle", "vehicle at a stop sign", "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters", + "jaywalking pedestrian", + "vehicle in close proximity to bicycle", "a group of people", - "pedestrian walking past right side of vehicle", - "pedestrians facing each other at close range, possibly conversing", - "active vehicle at stop sign", "ego vehicle approaching pedestrian at crosswalk", - "any vehicle in front of stop sign", "turning left", "vehicle turning right with pedestrian in front" ], @@ -6605,33 +6605,33 @@ "lane splitting motorcycle", "passenger vehicle swerving left", "motorcycle near construction cone", - "ego vehicle approaching pedestrian at crosswalk", - "motorcycle between two vehicles", - "motorcycle or pedestrian within 5 meters to the right of the ego vehicle", + "vehicle accelerating while changing lanes", + "two cars back from the ego vehicle", + "vehicle accelerating aggressively", "dog running in the road", "pedestrian crossing between bollards" ], "5f5a25ff-ea07-3133-b5c6-26fada93f90f": [ "vehicle making a right turn", + "regular vehicle turning right", "vehicle changing lanes while in bike lane", "vehicle turning right with pedestrian in front", - "vehicle near construction barrel", - "ego vehicle with parked bicycles ahead", - "vehicle changing lanes while on an intersection", + "car turning right", "vehicle changing lanes through bike lane", + "passenger vehicle turning left at intersection", "vehicle turning at intersection with nearby pedestrians", "vehicle accelerating towards pedestrian crossing", "dog running in the road" ], "9946b521-ea55-3c52-9fd1-71afc3abf3c6": [ - "vehicle two vehicles ahead is braking", "vehicle stopped at construction barrel", - "accelerating passenger vehicle", - "vehicle being crossed by a pedestrian", - "object that hasn't moved", + "vehicle traveling in the opposite direction as the ego vehicle", "vehicle near construction barrel", + "stationary construction barrel", "passenger vehicle swerving left", "ego vehicle near construction barrel", + "vehicle to the back right of the ego vehicle", + "vehicle traveling in the same direction as the ego vehicle", "construction barrel with at least 2 construction cones within 3 meters", "vehicle facing and accelerating toward pedestrian on road" ], @@ -6639,35 +6639,35 @@ "vehicle navigating near multiple bicycles", "vehicles being passed by a motorcycle on either side", "bicycle near traffic cone", - "vehicle being followed by ego vehicle while being overtaken on right", - "ego vehicle near construction barrel", "vehicle with multiple bicycles ahead", - "vehicle near construction barrel", + "vehicle with a bicycle to its right", + "motorcyclist", "vehicle in close proximity to bicycle", + "vehicle within 5 meters of a bicycle", "pedestrian walking between two stopped vehicles", "ego vehicle approaching crossing pedestrians" ], "6ee06433-4820-3211-999a-95b79b2c692e": [ - "vehicle two cars ahead is changing lanes", + "vehicle sharing a lane with another vehicle", + "vehicle to the back right of the ego vehicle", + "vehicle traveling in the same direction as the ego vehicle", "ego vehicle following vehicle being overtaken on right", - "accelerating truck", + "vehicle traveling in the opposite direction as the ego vehicle", "vehicle traveling over 20 meters per second", - "pedestrian facing toward the bus", - "vehicle getting passed from the right", - "ego vehicle with vehicles on both sides", - "accelerating passenger vehicle", + "vehicle changing lanes", + "vehicle changing lanes to the right", "school bus on intersection", "ego vehicle approaching crossing pedestrians" ], "6dadba1d-0f67-345b-bc5e-407ab8f7654c": [ - "vehicle being overtaken on the right", "vehicle traveling in the opposite direction as the ego vehicle", + "vehicle facing the ego vehicle", "vehicle sharing a lane with another vehicle", - "stationary object", - "vehicle following another vehicle too closely", - "vehicle traveling in the same direction as the ego vehicle", - "accelerating passenger vehicle", + "vehicle getting passed from the right", + "vehicle being overtaken while approaching another vehicle", + "vehicle directly facing a moving pedestrian from 5-15 meters away", "vehicle to the back right of the ego vehicle", + "vehicle moving at crawling speed", "stopped vehicle facing a turning vehicle between 5-20 meters away", "moving pedestrian within 3 meters to the left of ego vehicle" ], @@ -6677,79 +6677,79 @@ "motorcycle near construction cone", "vehicles being passed by a motorcycle on either side", "vehicle two vehicles ahead is being crossed by a pedestrian", + "pedestrian to the back-right of the ego vehicle", "stroller with bollards on both sides", - "pedestrian crossing at bollard", "stop sign behind a pedestrian", "motorcycle passing between parked vehicles", "ego vehicle approaching crossing pedestrians" ], "8c52d911-fe34-3424-9864-d3fdfac38064": [ "bicycle traveling alongside parked vehicles", + "pedestrian crossing between bollards", "moving bicycle directly to the left of the ego vehicle", - "bicycle passing by parked vehicle", - "pedestrian walking alongside bollard", "ego vehicle approaching cyclist in same lane", - "bicyclist on intersection", + "bicycle on intersection", "bicycle and vehicle traveling in bike lane", "group of at least 3 moving bicyclists within 5 meters of each other", + "ego vehicle approaching pedestrian at crosswalk", "group of three people", "accelerating passenger vehicle" ], "1c7d3b85-6cec-373c-a4eb-5137d7cc6a7c": [ "motorcycle near construction cone", - "bicycle traveling alongside parked vehicles", "box truck braking in front of ego vehicle", "pedestrian to the left of a truck", + "bicycle passing by parked vehicle", "motorcyclist traveling opposite to bicycle traffic", - "bicycle near traffic cone", "bicycle traveling against traffic", "ego vehicle approaching stopped delivery truck", + "parked box trucks", "vehicle changing lanes near group of cyclists", "bus changing lanes" ], "382cf8af-6c8d-3ed9-907b-12214d2c7cb0": [ - "vehicle braking heavily", + "vehicle accelerating more than two meters per second", "pedestrian on intersection not using a crosswalk", - "pedestrian facing toward the bus", - "vehicle facing toward a pedestrian at a crosswalk", - "pedestrians facing each other at close range, possibly conversing", - "jaywalking pedestrian", + "vehicle accelerating on intersection", "any vehicle in front of stop sign", "bus within 5 meters to either side of ego vehicle", + "the vehicle two cars in front of the ego vehicle", + "pedestrians over 30 meters away", + "vehicle at a stop sign", "pedestrian on road not facing traffic", "vehicle turning right at stop sign" ], "2ec904db-41aa-397c-a1e3-2e2ca0c8e8fb": [ - "pedestrian walking past right side of vehicle", - "pedestrian facing toward the bus", - "vehicle being passed on the left by another vehicle", + "the vehicle two cars in front of the ego vehicle", + "vehicle accelerating while changing lanes", + "vehicle accelerating on intersection", "two cars back from the ego vehicle", "vehicle changing lanes while in bike lane", "construction item on road", - "vehicle crossing path of another vehicle", + "pedestrian on intersection not using a crosswalk", "vehicle changing lanes through bike lane", "vehicle maneuvering between construction barriers", "vehicle near construction barrel" ], "e2043284-6122-3cc9-a7e7-f091a16361b7": [ - "at least active 2 vehicles within 15 meters behind ego vehicle", "vehicle changing lanes while in bike lane", - "vehicle within 5 meters of a bicycle", - "vehicle accelerating more than two meters per second", + "ego vehicle following vehicle being overtaken on right", "vehicle changing lanes through bike lane", - "vehicle two cars ahead is braking", + "ego vehicle with vehicles on both sides", "group of pedestrians ahead of the ego vehicle", - "accelerating vehicle changing lanes to the right", + "pedestrians facing each other at close range, possibly conversing", + "ego vehicle two cars ahead of another vehicle", + "ego vehicle with parked bicycles ahead", "pedestrian turning and watching the ego vehicle", "bus with at least 3 pedestrians within 5 meters" ], "1a7e18b5-d8dc-371d-be5f-03a37b113e81": [ "semi truck within 30 meters ahead of ego vehicle", "truck in the same lane as a bus", + "moving bus to the front-left of the ego vehicle", "bus changing lanes", - "vehicle turning right with pedestrian waiting", "truck without trailer", - "bicycle traveling with vehicle traffic", + "vehicle approaching stopped vehicle at intersection", "bus in the same lane as a truck", "ego vehicle approaching stopped delivery truck", "pedestrian crossing at bollard", @@ -6758,52 +6758,53 @@ "0d9e4cff-73ff-33eb-9981-795475e62faf": [ "vehicle accelerating aggressively", "bus with another bus in its lane", - "vehicle facing toward a pedestrian at a crosswalk", "multiple buses within 50 meters ahead", + "pedestrian facing toward ego vehicle", + "pedestrian facing toward the bus", "ego vehicle approaching stopped truck", "bus making right turn", - "bus with at least 3 pedestrians within 5 meters", "bus within 5 meters to either side of ego vehicle", "vehicle passing stopped truck with pedestrian nearby", "vehicle accelerating on intersection" ], "b21b7285-2199-3264-b10a-524e9b23502a": [ - "bicycle in vehicle lane with vehicle", - "bicycle sharing lane as a regular vehicle", - "bicycle in same lane as a vehicle", + "bicycle on intersection", + "bicycle traveling with vehicle traffic", + "vehicle in close proximity to bicycle", "bicyclist on intersection", "bicycle near a bus", "motorcycle near construction cone", + "motorcycle or pedestrian within 5 meters to the right", "bicycle behind a bus", - "pedestrian walking past right side of vehicle", "car following closely behind bicyclist", "pedestrian walking between trailers" ], "120d7ac7-cce3-359e-a19c-1b9c0abd6be2": [ "vehicle changing lanes while in bike lane", "vehicle approaching stopped vehicle at intersection", + "vehicle changing lanes while on an intersection", + "vehicle crossing path of another vehicle", + "vehicle changing lanes to the right", "vehicle facing toward a pedestrian at a crosswalk", "vehicle changing lanes through bike lane", - "vehicle changing lanes", - "vehicle accelerating while changing lanes", "vehicle two cars ahead is changing lanes", - "left lane change while there is a vehicle to the left", "vehicle turning left with a bicycle in front of it", "vehicle turning left while bicycle crosses from right" ], "7ccdda39-69b1-36d1-89c8-2acc3823264b": [ - "vehicle within 5 meters of a bicycle", - "pedestrians using designated crossing", + "vehicle being overtaken on the right", "pedestrian crossing in front of vehicle at crosswalk", "box truck braking in front of ego vehicle", - "pedestrian between moving vehicles on both sides", - "a group of people", + "vehicle facing toward a pedestrian at a crosswalk", + "vehicle getting passed from the right", + "vehicle with a bicycle to its right", "parked box trucks", "ego vehicle following vehicle that is being overtaken on the right", "vehicle two vehicles ahead is turning", "vehicle changing lanes through bike lane" ], "a8a2fbc2-8e77-35a0-9208-f882c3cb2a5c": [ + "pedestrian in front of a bicyclist who is to the left of a vehicle", "bicycle near school bus", "pedestrian to the left of a truck", "dog near an intersection", @@ -6811,16 +6812,15 @@ "bicycle behind a bus", "moving bicycle directly to the left of the ego vehicle", "motorcycle in the same lane as a box truck", - "ego vehicle approaching stopped delivery truck", "vehicle turning at intersection with nearby pedestrians", "pedestrian crossing between stopped buses" ], "2501c6d0-071c-3a7a-b51f-c8cbd37abe25": [ + "pedestrian between moving vehicles on both sides", "vehicle with multiple construction cones on the left side", - "vehicle accelerating while changing lanes", - "pedestrians using designated crossing", - "vehicle at a stop sign", + "pedestrian near construction cone", "vehicle turning right at stop sign", + "pedestrian on intersection not using a crosswalk", "the vehicle behind another vehicle being crossed by a jaywalking pedestrian", "truck on intersection", "vehicle two vehicles ahead is turning", @@ -6830,9 +6830,9 @@ "444cce44-cc82-4620-b630-1b5849284ac7": [ "bicyclist changing lanes to the right", "pedestrian crossing in front of cyclist near intersection", - "box trucks within 10 meters of an intersection", - "objects getting closer to the ego vehicle", + "car following closely behind bicyclist", "wheeled device (e.g., golf cart, segway) sharing a lane with a moving vehicle", + "bicycle crossing vehicle path at intersection", "vehicle facing and heading toward pedestrian group", "motorcyclist braking hard", "vehicle passing truck with pedestrian crossing ahead", @@ -6840,9 +6840,9 @@ "vehicle braking heavily" ], "226199ab-c791-32a7-8bab-ab92878eb199": [ - "multiple buses within 50 meters ahead", "bus with multiple pedestrians waiting on the right side", - "vehicle turning right with pedestrian waiting", + "bus with at least 3 pedestrians within 5 meters", + "stopped vehicles at intersection being crossed by pedestrians", "vehicle turning left at intersection while sharing lane with a bus", "bus in bus lane", "bicycle near traffic cone", @@ -6853,97 +6853,97 @@ ], "f110598d-7e01-3ed7-a227-4e958987a31f": [ "vehicle changing lanes through bike lane", + "bicycle sharing lane as a regular vehicle", "bicycle traveling alongside parked vehicles", "bicyclist within 3 meters on either side", "moving bicycle directly to the left of the ego vehicle", "ego vehicle approaching cyclist in same lane", "vehicle changing lanes while in bike lane", - "bicycle traveling with vehicle traffic", "bicycle traveling against traffic", "vehicle approaching pedestrians waiting at a crosswalk", "vehicle turning near group of cyclists" ], "df321672-461c-361b-aac9-e81cc9a88b9f": [ - "vehicle behind another vehicle that has a pedestrian on its right side", "bicycle facing toward a vehicle", - "ego vehicle two cars ahead of another vehicle", - "vehicle accelerating on intersection", - "pedestrian between moving vehicles on both sides", + "ego vehicle approaching pedestrian at crosswalk", + "vehicle accelerating towards pedestrian crossing", "bicycle traveling alongside parked vehicles", - "motorcycle or pedestrian within 5 meters to the right of the ego vehicle", + "vehicle within 5 meters of a bicycle", + "oncoming vehicle changing lanes", + "accelerating vehicle changing lanes to the right", "bicycle facing toward moving traffic", "ego vehicle approaching bicycle merging from bike lane", "vehicle accelerating while changing lanes" ], "34fe8fbd-2b1a-3552-94c4-e80d1e85e5c2": [ + "car turning right", + "pedestrian between moving vehicles on both sides", "vehicle two vehicles ahead is turning", - "vehicle behind another vehicle that has a pedestrian on its right side", - "stopped vehicle facing a turning vehicle between 5-20 meters away", - "vehicle turning at intersection with nearby pedestrians", - "vehicle accelerating more than two meters per second", + "vehicle accelerating on intersection", + "passenger vehicle turning right", "vehicle changing lanes", - "vehicle directly facing a moving pedestrian from 5-15 meters away", + "pedestrian on intersection not using a crosswalk", "vehicle crossing path of another vehicle", "pedestrian facing toward ego vehicle", "truck in the same lane as a bus" ], "4935629c-fd9e-3b2f-b68e-9489c89585df": [ - "passenger vehicle turning left at intersection", - "the active vehicle in front of the vehicle ahead", - "pedestrian on intersection not using a crosswalk", - "vehicle traveling in the same direction as the ego vehicle", - "vehicle traveling in the opposite direction as the ego vehicle", - "vehicle directly facing a moving pedestrian from 5-15 meters away", - "pedestrians over 30 meters away", + "vehicle approaching and facing a stopped vehicle at an intersection", + "car turning right", + "at least active 2 vehicles within 15 meters behind ego vehicle", + "regular vehicle turning right", + "stopped vehicle facing a turning vehicle between 5-20 meters away", + "truck on intersection", + "objects getting closer to the ego vehicle", + "jaywalking pedestrian", "vehicle accelerating more than two meters per second", - "vehicle turning right with pedestrian in front", - "truck changing lanes to the right" + "vehicle two vehicles ahead is changing lanes" ], "7cb4b11f-3872-3825-83b5-622e1a2cdb28": [ "box truck braking in front of ego vehicle", "ego vehicle approaching stopped delivery truck", + "ego vehicle with parked bicycles ahead", "bicycle near a bus", + "parked box trucks", "vehicle passing stopped truck with pedestrian nearby", - "box trucks within 10 meters of an intersection", - "accelerating passenger vehicle", "bicycle behind a bus", "pedestrian walking alongside stopped bus", - "box truck in the same lane as a school bus", - "objects getting closer to the ego vehicle" + "objects getting closer to the ego vehicle", + "vehicle changing lanes through bike lane" ], "d37be0e2-8223-3eeb-a0e2-c4b75d5ff87b": [ + "vehicle directly facing a moving pedestrian from 5-15 meters away", "regular vehicles that are stopped or nearly stopped", - "parked box trucks", - "vehicle braking heavily", - "vehicle being passed on the left by another vehicle", - "vehicle crossing path of another vehicle", - "vehicle accelerating on intersection", - "vehicle being overtaken on the left", - "any vehicle in front of stop sign", + "at least active 2 vehicles within 15 meters behind ego vehicle", + "vehicle two vehicles ahead is braking", + "accelerating passenger vehicle", + "vehicle hard braking with another vehicle ahead", + "vehicle changing lanes", + "vehicle facing toward a pedestrian at a crosswalk", "ego vehicle approaching bicycle merging from bike lane", "pedestrian walking alongside bollard" ], "924116d9-0a48-3d97-b8c9-0d16b087c16a": [ "vehicle making a right turn", "vehicle near multiple bollards", - "vehicle facing toward parked vehicles", - "vehicle facing toward a pedestrian at a crosswalk", + "regular vehicle turning right", "vehicle facing the ego vehicle", "vehicle two vehicles ahead is turning", - "vehicle at intersection facing another vehicle", - "ego vehicle two cars ahead of another vehicle", + "the vehicle two cars behind the ego vehicle", + "passenger vehicle turning right", + "pedestrians using designated crossing", "group of pedestrians ahead of the ego vehicle", "vehicle facing and heading toward pedestrian group" ], "d201af7e-48c8-34ad-be1c-e649af2cb5c2": [ - "vehicle moving at crawling speed", - "bus making right turn", + "vehicle braking heavily", + "vehicle being overtaken on the right", + "dog", + "vehicle behind another vehicle that has a pedestrian on its right side", "vehicle turning left at intersection while sharing lane with a bus", "multiple buses within 50 meters ahead", - "moving bus to the front-left of the ego vehicle", + "vehicle being overtaken while approaching another vehicle", "unattended dog", - "vehicle two cars ahead is braking", - "vehicle hard braking with another vehicle ahead", "bus with another bus in its lane", "pedestrian crossing between bollards" ], @@ -6960,25 +6960,25 @@ "vehicle with multiple construction cones on the left side" ], "eb142141-683a-3a6d-a207-0302b1ff260d": [ - "ego vehicle near bollard", - "vehicle with a bicycle to its right", + "vehicle braking heavily", "ego vehicle in dense traffic with lane-changing vehicles", + "vehicle accelerating towards pedestrian crossing", "vehicle two cars ahead is braking", - "vehicle directly facing a moving pedestrian from 5-15 meters away", - "vehicle in close proximity to bicycle", "school bus on intersection", + "vehicle changing lanes", "bicycle following closely behind a vehicle", + "vehicle accelerating more than two meters per second", "vehicle two vehicles ahead is being crossed by a pedestrian", "ego vehicle approaching pedestrian at crosswalk" ], "366ceb72-9f11-385a-8bc9-a26a18dbdd22": [ - "group of pedestrians ahead of the ego vehicle", + "vehicle braking near jaywalking pedestrian or stroller", + "vehicle turning right with pedestrian in front", "pedestrian walking with dog on sidewalk", "moving bus to the front-left of the ego vehicle", - "stroller", - "dog near an intersection", + "dog near pedestrian", + "vehicle turning right with pedestrian waiting", "pedestrian walking with stroller", - "passenger vehicle turning right", "bicycle behind a bus", "car with a stroller to its left", "stroller in the same lane as a regular vehicle" @@ -6987,30 +6987,30 @@ "vehicle accelerating towards pedestrian crossing", "bus in bus lane", "city bus", - "vehicle approaching stopped vehicle at intersection", "bus with at least 3 pedestrians within 5 meters", "truck on intersection", "multiple pedestrians crossing ahead", + "multiple buses within 50 meters ahead", "car driving in bus lane", "ego vehicle with vehicles on both sides", "truck sharing a lane with another truck" ], "14bf638b-8f0d-35b2-a369-6d846b5b3892": [ "vehicle accelerating more than two meters per second", - "vehicle being crossed by a pedestrian", + "regular vehicles that are stopped or nearly stopped", "turning left", + "stopped car", "the vehicle two cars behind the ego vehicle", - "vehicle being overtaken while approaching another vehicle", - "vehicle being overtaken on the left", "passenger vehicle swerving left", "two cars back from the ego vehicle", + "vehicle directly facing a moving pedestrian from 5-15 meters away", "ego vehicle merging between two regular vehicles", "vehicle near multiple bollards" ], "8606d399-57d4-3ae9-938b-db7b8fb7ef8c": [ - "pedestrian walking with stroller", "bus with multiple pedestrians waiting on the right side", "pedestrian walking alongside stopped bus", + "bicyclist on intersection", "pedestrians, strollers, or wheeled devices at a pedestrian crossing", "vehicle turning left at intersection while sharing lane with a bus", "bus changing lanes", @@ -7020,24 +7020,24 @@ "any vehicle in front of stop sign" ], "4207ef92-0b3b-4708-8868-4ffcaef308e0": [ - "vehicle making a right turn", + "ego vehicle following vehicle that is being overtaken on the right", "bicyclist changing lanes to the right", "bicycle facing toward a vehicle", - "vehicle turning right with pedestrian in front", - "vehicle turning at intersection with nearby pedestrians", + "bicycle on intersection", + "construction barrel with at least 2 construction cones within 3 meters", "passenger vehicle turning right", "vehicle braking at pedestrian crossing", - "regular vehicle turning right", + "vehicle passing truck with pedestrian crossing ahead", "vehicle passing bicycle near mobile pedestrian sign", "vehicle approaching stopped vehicle at intersection" ], "1a6487dd-8bc6-3762-bd8a-2e50e15dbe75": [ "box truck braking in front of ego vehicle", + "pedestrian crossing at bollard", "vehicle turning right next to pedestrian with stroller", "car driving in bus lane", "stroller", "vehicle passing stopped truck with pedestrian nearby", - "pedestrian walking with stroller", "passenger vehicle near stroller in road", "bus with multiple pedestrians waiting on the right side", "motorcyclist", @@ -7046,11 +7046,11 @@ "e66d1403-755b-3f63-938b-a2a69446a48a": [ "truck changing lanes to the right", "ego vehicle changing lanes to the left", + "vehicle stopped at a stop sign", "vehicle two cars ahead is braking", - "vehicle crossing path of another vehicle", + "active vehicle at stop sign", "accelerating truck", "vehicle passing truck with pedestrian crossing ahead", - "vehicle changing lanes", "vehicle turning right at stop sign", "motorcycle in the same lane as a box truck", "pedestrian between moving vehicles on both sides" @@ -7058,57 +7058,57 @@ "2772dd5f-bc0a-47ea-ae19-a5e0dbef8f41": [ "vehicle with multiple construction cones on the left side", "bicycle behind a bus", + "bus with at least 3 pedestrians within 5 meters", + "bus making right turn", "city bus", - "bicycle facing toward moving traffic", "vehicle turning left with a bicycle in front of it", "bicycle near a bus", - "bus changing lanes", "vehicle turning left at intersection while sharing lane with a bus", "motorcycle between stopped vehicles", "ego vehicle approaching bicycle merging from bike lane" ], "7b0bf9d6-084a-31d4-9e52-d9b582a0ec84": [ - "vehicle getting passed from the right", - "vehicle being crossed by a pedestrian", "vehicle moving at crawling speed", - "vehicle behind another vehicle that has a pedestrian on its right side", "object that hasn't moved", - "vehicle facing toward parked vehicles", + "vehicle traveling in the same direction as the ego vehicle", + "ego vehicle with vehicles on both sides", + "jaywalking pedestrian", + "vehicle near multiple bollards", "accelerating passenger vehicle", - "vehicle sharing a lane with another vehicle", + "vehicle with multiple pedestrians to the left", "vehicle within 5 meters of a bicycle", "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters" ], "ab3d8387-8e07-37f6-a74c-cf100fb6a612": [ "vehicle stopped at official signaler", "pedestrian crossing at bollard", - "car following closely behind bicyclist", + "bicycle traveling with vehicle traffic", "traffic officer in roadway", "ego vehicle passing official signaler", - "bicycle on intersection", + "bicyclist on intersection", "bus within 5 meters to either side of ego vehicle", - "bicycle in vehicle lane with vehicle", + "moving bus to the front-left of the ego vehicle", "ego vehicle braking near traffic controller", "multiple pedestrians crossing ahead" ], "35d5649b-f311-3177-8374-f9adf68781f3": [ - "ego vehicle near construction cone", + "car turning right", + "parked vehicle", + "the active vehicle in front of the vehicle ahead", "making a left lane change while there is a vehicle to the right", - "at least active 2 vehicles within 15 meters behind ego vehicle", - "the vehicle two cars in front of the ego vehicle", + "vehicle accelerating while changing lanes", "passenger vehicle turning left at intersection", - "vehicle crossing path of another vehicle", + "vehicle accelerating on intersection", "two cars back from the ego vehicle", - "ego vehicle with vehicles on both sides", "jaywalking pedestrian", "vehicle being crossed by a pedestrian" ], "0b324587-6097-3f92-a07a-a44f48c85d9e": [ "motorcycle or pedestrian within 5 meters to the right", "motorcyclist", - "the vehicle two cars behind the ego vehicle", + "pedestrian to the back-right of the ego vehicle", "motorcycle or pedestrian within 5 meters to the right of the ego vehicle", - "vehicle crossing path of another vehicle", + "pedestrian walking with dog on sidewalk", "dog", "ego vehicle near construction cone", "ego vehicle changing lanes to the right with a vehicle ahead", @@ -7116,49 +7116,49 @@ "the active vehicle in front of the vehicle ahead" ], "9e684390-4af3-3ec5-b163-855bbd026ff1": [ - "the vehicle two cars behind the ego vehicle", - "motorcyclist", + "vehicle being overtaken on the left", "vehicle surrounded by bicycles on all sides", "vehicle changing lanes while on an intersection", "vehicle in close proximity to bicycle", - "vehicle turning right with pedestrian waiting", - "motorcycle or pedestrian within 5 meters to the right", - "vehicle being passed on the left by another vehicle", + "regular vehicle turning right", + "object that hasn't moved", + "pedestrian near construction cone", + "pedestrian on intersection not using a crosswalk", "multiple pedestrians crossing ahead", "vehicle accelerating aggressively" ], "58a6bfcf-071e-3a6d-90f4-0e4cbdc298eb": [ - "vehicle getting passed from the right", + "regular vehicle turning right", "vehicle making a right turn", + "vehicle at intersection facing another vehicle", "objects getting closer to the ego vehicle", - "vehicle following another vehicle too closely", + "vehicle being followed by ego vehicle while being overtaken on right", "car turning right", - "left lane change while there is a vehicle to the left", + "stopped vehicle facing a turning vehicle between 5-20 meters away", "vehicle being tailgated while approaching stopped traffic", - "passenger vehicle turning right", "the vehicle two cars behind the ego vehicle", "accelerating vehicle changing lanes to the right" ], "11995cbe-e076-3a35-910d-1e56ecf2c3c8": [ - "vehicle near multiple bollards", - "vehicle braking heavily", - "two cars back from the ego vehicle", - "vehicle directly facing a moving pedestrian from 5-15 meters away", + "turning left", + "left lane change while there is a vehicle to the left", + "oncoming vehicle changing lanes", + "making a left lane change while there is a vehicle to the right", "vehicle two cars ahead is braking", - "the vehicle two cars behind the ego vehicle", - "pedestrians over 30 meters away", + "vehicle accelerating while changing lanes", + "vehicle crossing path of another vehicle", "pedestrians facing each other at close range, possibly conversing", "bicycle and vehicle traveling in bike lane", "bicycle sharing lane as a regular vehicle" ], "285ac213-8caf-31a4-b0fa-c240580f7f69": [ - "two cars back from the ego vehicle", "vehicle two vehicles ahead is turning", + "accelerating vehicle changing lanes to the right", "ego vehicle in dense traffic with lane-changing vehicles", - "vehicle two cars ahead is changing lanes", - "vehicle accelerating on intersection", - "the vehicle two cars in front of the ego vehicle", "ego vehicle near construction cone", + "oncoming vehicle changing lanes", + "ego vehicle two cars ahead of another vehicle", + "left lane change while there is a vehicle to the left", "vehicle accelerating aggressively", "pedestrian on intersection not using a crosswalk", "a group of people" @@ -7166,154 +7166,154 @@ "1bf2bf1c-64d1-308f-afd1-220de9d30290": [ "vehicle near multiple bollards", "vehicle accelerating aggressively", - "at least active 2 vehicles within 15 meters behind ego vehicle", + "vehicle behind another vehicle that has a pedestrian on its right side", + "vehicle accelerating on intersection", "vehicle with multiple pedestrians to the left", - "any vehicle in front of stop sign", - "jaywalking pedestrian", - "pedestrian near construction cone", - "ego vehicle two cars ahead of another vehicle", + "vehicle braking heavily", + "vehicle accelerating more than two meters per second", + "vehicle changing lanes while on an intersection", "vehicle making a right turn", "vehicle with a bicycle to its right" ], "37fcd8ac-c148-3c4a-92ac-a10f355451b7": [ "bus with multiple pedestrians waiting on the right side", - "pedestrian crossing ahead of ego vehicle", - "bus making right turn", - "stopped vehicles at intersection being crossed by pedestrians", "bus with another bus in its lane", "pedestrian on road not facing traffic", "vehicle turning left at intersection while sharing lane with a bus", "moving pedestrian within 3 meters to the left of ego vehicle", + "ego vehicle approaching crossing pedestrians", + "multiple pedestrians crossing ahead", + "multiple buses within 50 meters ahead", "bicycle behind a bus", "pedestrian with wheelchair at crosswalk" ], "b9f73e2a-292a-3876-b363-3ebb94584c7a": [ "car following closely behind bicyclist", - "bicycle facing toward a vehicle", - "bicycle facing toward moving traffic", + "vehicle within 5 meters of a bicycle", + "vehicle traveling in the opposite direction as the ego vehicle", + "parked vehicle", + "vehicle in close proximity to bicycle", "bicycle following closely behind a vehicle", "vehicle with a bicycle to its right", - "vehicle at intersection facing another vehicle", - "vehicle directly facing a moving pedestrian from 5-15 meters away", - "vehicle facing away from the ego vehicle", + "vehicle sharing a lane with another vehicle", "regular vehicle turning right", "bicycle in same lane as a vehicle" ], "8c54e429-a3de-3eb3-96f3-d3127e2cc18f": [ + "vehicle approaching stopped vehicle at intersection", "moving bicycle directly to the left of the ego vehicle", "ego vehicle approaching cyclist in same lane", "bicyclist on intersection", - "bicycle traveling alongside parked vehicles", "bicyclist within 3 meters on either side", + "stop sign behind a pedestrian", "vehicle stopped at a stop sign", "bicycle on intersection", - "bicycle sharing lane as a regular vehicle", "pedestrian approaching a parked vehicle", "vehicle making a right turn" ], "adbb2a17-a503-32cd-a9ed-b523b3e4da0b": [ - "vehicle being overtaken on the left", - "vehicle hard braking with another vehicle ahead", + "vehicle moving at crawling speed", + "vehicle changing lanes while on an intersection", "ego vehicle changing lanes to the right with a vehicle ahead", - "pedestrian to the back-right of the ego vehicle", - "pedestrians over 30 meters away", + "vehicle two vehicles ahead is braking", "vehicle traveling in the opposite direction as the ego vehicle", "pedestrian walking past right side of vehicle", - "vehicle braking heavily", + "accelerating passenger vehicle", + "vehicle facing the ego vehicle", "accelerating vehicle changing lanes to the right", "pedestrian crossing in front of vehicle at crosswalk" ], "a059b6b9-ca26-4881-bcf7-d202433de0c2": [ + "vehicle two cars ahead is braking", "vehicle near multiple bollards", "vehicle traveling over 20 meters per second", - "vehicle being passed on the left by another vehicle", - "parked vehicle", - "vehicle being overtaken on the left", + "vehicle accelerating aggressively", "accelerating vehicle changing lanes to the right", - "vehicle changing lanes while on an intersection", + "ego vehicle in dense traffic with lane-changing vehicles", + "vehicle getting passed from the right", "vehicle changing lanes to the right", "vehicle approaching and facing a stopped vehicle at an intersection", "vehicle stopped at construction barrel" ], "7c5e3704-33c8-3a4e-b032-9187a6f90206": [ "ego vehicle approaching crossing pedestrians", - "bicycle facing toward moving traffic", + "vehicle two vehicles ahead is being crossed by a pedestrian", "moving pedestrian within 3 meters to the left of ego vehicle", + "pedestrian crossing ahead of ego vehicle", + "pedestrian crossing at bollard", "multiple pedestrians crossing ahead", + "pedestrian walking alongside bollard", "ego vehicle approaching cyclist in same lane", - "the vehicle behind another vehicle being crossed by a jaywalking pedestrian", - "bicycle traveling alongside parked vehicles", - "stopped vehicles at intersection being crossed by pedestrians", "bicyclist riding in vehicle lane", "ego vehicle with parked bicycles ahead" ], "7ce2a2ce-eed6-36d7-ba62-dda9acddb070": [ - "bicycle passing by parked vehicle", "ego vehicle approaching cyclist in same lane", - "ego vehicle approaching crossing pedestrians", "passenger vehicle near stroller in road", + "bicycle traveling alongside parked vehicles", "unattended stroller", "multiple pedestrians crossing ahead", "stroller in the same lane as a regular vehicle", "pedestrian crossing ahead of ego vehicle", + "bicycle sharing lane as a regular vehicle", "pedestrians over 30 meters away", "moving bicycle directly to the left of the ego vehicle" ], "da30abcf-652b-38df-a128-10942b225ec5": [ "vehicle two cars ahead is being crossed by a pedestrian", "vehicle following another vehicle too closely", - "making a left lane change while there is a vehicle to the right", "vehicle two vehicles ahead is being crossed by a pedestrian", - "pedestrian to the back-right of the ego vehicle", - "pedestrian walking alongside bollard", - "ego vehicle with vehicles on both sides", + "vehicle two cars ahead is changing lanes", + "vehicle directly facing a moving pedestrian from 5-15 meters away", "vehicle hard braking with another vehicle ahead", + "vehicle two vehicles ahead is changing lanes", + "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters", "at least active 2 vehicles within 15 meters behind ego vehicle", "passenger vehicle turning right" ], "75e8adad-50a6-3245-8726-5e612db3d165": [ "accelerating truck", - "pedestrian near construction cone", - "car turning right", "parked box trucks", - "group of three people", + "ego vehicle near construction barrel", + "stationary construction barrel", "vehicle maneuvering between construction barriers", + "jaywalking pedestrian", "construction item on road", "vehicle stopped at construction barrel", "truck on intersection", "vehicle traveling over 20 meters per second" ], "bd9636d2-7220-3585-9c7d-4acaea167b71": [ + "pedestrian walking alongside bollard", "bus with another bus in its lane", "multiple buses within 50 meters ahead", + "pedestrian near construction cone", "bus changing lanes", - "pedestrian on intersection not using a crosswalk", "pedestrian walking alongside stopped bus", - "bus with multiple pedestrians waiting on the right side", "pedestrian on road not facing traffic", - "pedestrian crossing at bollard", + "group of three people", "vehicle being passed on the left by another vehicle", "vehicle turning at intersection with nearby pedestrians" ], "e7e7ebad-79d2-3ae1-95ce-f3035bc8f719": [ - "car following closely behind bicyclist", + "ego vehicle approaching cyclist in same lane", "vehicle turning left with a bicycle in front of it", "pedestrian in front of a bicyclist who is to the left of a vehicle", "motorcycle between stopped vehicles", "multiple pedestrians crossing ahead", - "bicyclist on intersection", "bicycle traveling against traffic", + "motorcycle between two vehicles", "bicycle crossing vehicle path at intersection", "car driving in bus lane", "wheeled rider crossing between moving vehicles" ], "04973bcf-fc64-367c-9642-6d6c5f363b61": [ "the vehicle behind another vehicle being crossed by a jaywalking pedestrian", - "vehicle accelerating on intersection", "pedestrian to the back-right of the ego vehicle", + "motorcycle or pedestrian within 5 meters to the right", "motorcycle or pedestrian within 5 meters to the right of the ego vehicle", - "vehicle being crossed by a pedestrian", - "vehicle being overtaken on the right", + "vehicle braking heavily", + "jaywalking pedestrian", "moving pedestrian within 3 meters to the left of ego vehicle", "stopped vehicles at intersection being crossed by pedestrians", "pedestrian walking between two stopped vehicles", @@ -7321,33 +7321,33 @@ ], "9caf211e-3e6e-3996-8518-f617b9454e67": [ "ego vehicle two cars ahead of another vehicle", + "stationary object", "ego vehicle near articulated bus", "vehicle being followed by ego vehicle while being overtaken on right", - "vehicle at a stop sign", + "ego vehicle following vehicle being overtaken on right", "any vehicle in front of stop sign", - "object that hasn't moved", "city bus", - "parked vehicle", + "pedestrian between moving vehicles on both sides", "pedestrian crossing between bollards", "vehicle accelerating towards pedestrian crossing" ], "de43d0b6-d6a7-38de-9709-883e10320267": [ - "motorcycle or pedestrian within 5 meters to the right of the ego vehicle", "multiple buses within 50 meters ahead", + "bus within 5 meters to either side of ego vehicle", "bicycle following closely behind a vehicle", - "pedestrian to the back-right of the ego vehicle", - "motorcycle or pedestrian within 5 meters to the right", - "moving bus to the front-left of the ego vehicle", - "oncoming vehicle changing lanes", - "ego vehicle two cars ahead of another vehicle", + "car following closely behind bicyclist", + "accelerating vehicle changing lanes to the right", + "vehicle braking heavily", + "pedestrian facing toward the bus", + "any vehicle in front of stop sign", "pedestrian near construction cone", "pedestrian crossing between stopped buses" ], "5481321f-d317-3e80-8061-6e9c635c4ca9": [ - "vehicle turning right with pedestrian waiting", + "the vehicle two cars in front of the ego vehicle", "vehicle approaching pedestrians waiting at a crosswalk", + "the vehicle behind another vehicle being crossed by a jaywalking pedestrian", "left lane change while there is a vehicle to the left", - "accelerating passenger vehicle", "pedestrian turning and watching the ego vehicle", "parked vehicle", "vehicle making a right turn", @@ -7356,14 +7356,14 @@ "vehicle changing lanes while in bike lane" ], "b5a1b0b0-a7fc-3a47-af82-9b25a81a8c0b": [ - "ego vehicle near bollard", + "vehicle changing lanes", "ego vehicle changing lanes to the right with a vehicle ahead", + "vehicle accelerating towards pedestrian crossing", "box trucks within 10 meters of an intersection", "truck without trailer", - "vehicle two vehicles ahead is changing lanes", + "passenger vehicle swerving left", "semi truck within 30 meters ahead of ego vehicle", "truck cab with trailer sharing lane with regular vehicle", - "ego vehicle approaching stopped delivery truck", "bus within 5 meters to either side of ego vehicle", "car driving in bus lane" ], @@ -7380,59 +7380,59 @@ "vehicle accelerating aggressively" ], "f46707f9-435f-3a06-9017-deae11feab53": [ + "pedestrian crossing in front of vehicle at crosswalk", "vehicles being passed by a motorcycle on either side", "pedestrian near stop sign", "stopped vehicles at intersection being crossed by pedestrians", "motorcyclist braking hard", "motorcycle overtaking a vehicle", "the vehicle behind another vehicle being crossed by a jaywalking pedestrian", - "pedestrian near bollard", "stop sign behind a pedestrian", "bus with multiple pedestrians waiting on the right side", "pedestrian walking alongside stopped bus" ], "6bae6c0c-5296-376d-96bc-6c8dbe6693a5": [ "pedestrian crossing ahead of ego vehicle", + "vehicle turning at intersection with nearby pedestrians", "stopped vehicles at intersection being crossed by pedestrians", - "group of three people", - "ego vehicle with parked bicycles ahead", + "ego vehicle approaching pedestrian at crosswalk", + "pedestrian crossing in front of vehicle at crosswalk", "vehicle turning right with pedestrian in front", "vehicle turning right with pedestrian waiting", - "jaywalking pedestrian", - "vehicle two vehicles ahead is turning", + "ego vehicle approaching crossing pedestrians", "bicycle between two vehicles traveling in same direction", "bicycle crossing vehicle path at intersection" ], "f303e577-a888-30db-97f7-ed36c90227e1": [ - "pedestrian near bollard", + "bicycle following closely behind a vehicle", "bicycle traveling alongside parked vehicles", "vehicle passing truck with pedestrian crossing ahead", "bicycle passing by parked vehicle", + "vehicle two cars ahead is changing lanes", "bicycle in vehicle lane with vehicle", - "moving bus to the front-left of the ego vehicle", - "bicyclist riding in vehicle lane", - "pedestrian walking with stroller", + "bicycle in same lane as a vehicle", + "vehicle being followed by ego vehicle while being overtaken on right", "vehicle accelerating aggressively", "ego vehicle near bollard" ], "8a0ff1a2-9045-3be3-b67f-3914d88178ec": [ - "motorcycle between stopped vehicles", - "vehicle being crossed by a pedestrian", + "passenger vehicle swerving left", + "the vehicle two cars behind the ego vehicle", "motorcycle changing lanes to the left near multiple vehicles", "vehicle near multiple bollards", "vehicles being passed by a motorcycle on either side", "pedestrian near bollard", "motorcycle between two vehicles", - "motorcyclist", + "object that hasn't moved", "pedestrian to the left of a truck", "pedestrian on road not facing traffic" ], "1c8f1189-c4fe-3303-bf2a-f88f5751b81e": [ "vehicle approaching stopped vehicle at intersection", "motorcyclist braking hard", + "vehicle facing toward a pedestrian at a crosswalk", "oncoming vehicle changing lanes", "pedestrian on intersection not using a crosswalk", - "vehicle accelerating towards pedestrian crossing", "ego vehicle in dense traffic with lane-changing vehicles", "vehicle turning right with pedestrian in front", "pedestrian walking with dog on sidewalk", @@ -7440,98 +7440,98 @@ "dog on roadway" ], "e0cfd042-ae29-3d21-bb47-81eb8f933ec8": [ - "turning left", - "two cars back from the ego vehicle", + "ego vehicle two cars ahead of another vehicle", + "pedestrians facing each other at close range, possibly conversing", "at least active 2 vehicles within 15 meters behind ego vehicle", - "vehicle accelerating on intersection", - "vehicle at a stop sign", + "ego vehicle with parked bicycles ahead", "ego vehicle with vehicles on both sides", "vehicle accelerating more than two meters per second", - "vehicle within 5 meters of a bicycle", + "vehicle facing toward parked vehicles", + "vehicle behind another vehicle that has a pedestrian on its right side", "vehicle being crossed by a pedestrian", "car turning right" ], "8e5442cf-8882-3b94-bc47-18fcad84bb20": [ - "vehicle braking near jaywalking pedestrian or stroller", + "pedestrians using designated crossing", + "dog near pedestrian", "pedestrian walking with stroller", - "pedestrians facing each other at close range, possibly conversing", - "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters", "city bus", "pedestrian walking alongside stopped bus", "stroller", + "vehicle two vehicles ahead is changing lanes", "ego vehicle near articulated bus", "vehicle with multiple construction cones on the left side", "dog running in the road" ], "5fe10166-ab1e-36d5-aa2b-c0d6f680f2c7": [ "vehicle changing lanes while in bike lane", - "vehicle facing toward parked vehicles", - "stopped vehicle facing a turning vehicle between 5-20 meters away", - "object that hasn't moved", + "vehicle being overtaken on the right", + "vehicle changing lanes", + "vehicle traveling in the opposite direction as the ego vehicle", + "vehicle traveling in the same direction as the ego vehicle", "vehicle changing lanes through bike lane", - "vehicle facing the ego vehicle", - "vehicle following another vehicle too closely", + "vehicle at intersection facing another vehicle", "vehicle turning at intersection with nearby pedestrians", "making a left lane change while there is a vehicle to the right", "passenger vehicle turning right" ], "36b38cbf-f6c5-3a12-8e7a-eb281cc9c2fc": [ + "bicycle on intersection", "bicycle facing toward a vehicle", "vehicle accelerating while changing lanes", - "passenger vehicle turning left at intersection", "pedestrian turning and watching the ego vehicle", - "jaywalking pedestrian", - "making a left lane change while there is a vehicle to the right", - "car turning right", + "vehicle turning at intersection with nearby pedestrians", + "bicycle facing toward moving traffic", + "regular vehicle turning right", "passenger vehicle turning right", "ego vehicle passing parked motorcycle", "car following closely behind bicyclist" ], "47358aac-2ec0-3d45-a837-f2069ca7cee3": [ "box trucks within 10 meters of an intersection", - "objects getting closer to the ego vehicle", + "vehicle being tailgated while approaching stopped traffic", "pedestrian between moving vehicles on both sides", - "regular vehicles that are stopped or nearly stopped", + "pedestrians facing each other at close range, possibly conversing", "vehicle near construction barrel", "vehicle stopped at construction barrel", - "vehicle accelerating towards pedestrian crossing", - "pedestrians over 30 meters away", - "car turning right", - "vehicle braking at pedestrian crossing" + "pedestrian on intersection not using a crosswalk", + "pedestrian facing toward the bus", + "moving pedestrian within 3 meters to the left of ego vehicle", + "vehicle approaching multiple pedestrians at crosswalk" ], "3e7c4d87-dba1-3e22-a303-4f402f89cd20": [ - "stopped vehicle facing a turning vehicle between 5-20 meters away", + "at least active 2 vehicles within 15 meters behind ego vehicle", "passenger vehicle turning left at intersection", "car turning right", - "stationary construction barrel", + "vehicle making a right turn", + "vehicle changing lanes", "vehicle stopped at construction barrel", - "vehicle near multiple bollards", "passenger vehicle turning right", "vehicle near construction barrel", "pedestrian to the back-right of the ego vehicle", "ego vehicle approaching crossing pedestrians" ], "a1c1d559-0480-39d2-94f0-1a89f0226c4f": [ + "vehicle facing toward parked vehicles", "vehicle being overtaken on the left", + "vehicle getting passed from the right", "vehicle near multiple bollards", "vehicle behind another vehicle that has a pedestrian on its right side", - "vehicle being overtaken while approaching another vehicle", - "parked vehicle", - "the vehicle two cars behind the ego vehicle", - "vehicle facing away from the ego vehicle", - "vehicle changing lanes while on an intersection", + "vehicle at a stop sign", + "vehicle being passed on the left by another vehicle", + "any vehicle in front of stop sign", "ego vehicle near bollard", "vehicle changing lanes to the right" ], "382dfbe0-836e-385c-86f2-f1afcf57a402": [ "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters", - "motorcycle between two vehicles", - "vehicle turning right with pedestrian waiting", + "pedestrian turning and watching the ego vehicle", + "ego vehicle near bollard", + "vehicle two cars ahead is being crossed by a pedestrian", "motorcycle near construction cone", "pedestrian crossing at bollard", "motorcycle between stopped vehicles", - "vehicle accelerating while changing lanes", - "vehicles being passed by a motorcycle on either side", + "vehicle two vehicles ahead is being crossed by a pedestrian", "motorcycle changing lanes to the left near multiple vehicles", "motorcyclist braking hard" ], @@ -7539,34 +7539,34 @@ "vehicle two vehicles ahead is braking", "semi truck within 30 meters ahead of ego vehicle", "truck cab with trailer sharing lane with regular vehicle", - "truck on intersection", - "vehicle being passed on the left by another vehicle", - "vehicle moving at crawling speed", - "vehicle sharing a lane with another vehicle", + "ego vehicle following vehicle being overtaken on right", + "vehicle being passed on the left by another vehicle", + "vehicle braking heavily", "truck without trailer", + "vehicle being overtaken on the left", "truck sharing a lane with another truck", "two cars back from the ego vehicle" ], "6cc0bb26-5afb-3688-b237-b9c64c2800e5": [ + "vehicle getting passed from the right", + "passenger vehicle turning left at intersection", "vehicle turning left at intersection while sharing lane with a bus", + "pedestrian on intersection not using a crosswalk", "ego vehicle changing lanes to the right with a vehicle ahead", - "a group of people", "stopped car", - "vehicle turning at intersection with nearby pedestrians", "pedestrian on road not facing traffic", "wheeled device (e.g., golf cart, segway) sharing a lane with a moving vehicle", - "pedestrians over 30 meters away", "ego vehicle in dense traffic with lane-changing vehicles", "ego vehicle changing lanes to the left" ], "0d37aee4-6508-33a2-998d-724834e80030": [ + "vehicle accelerating while changing lanes", + "pedestrian facing toward ego vehicle", "bicycle facing toward a vehicle", - "pedestrians over 30 meters away", "bus in bus lane", - "vehicle two cars ahead is changing lanes", - "vehicle two vehicles ahead is changing lanes", "bicycle facing toward moving traffic", "pedestrian facing toward the bus", + "making a left lane change while there is a vehicle to the right", "left lane change while there is a vehicle to the left", "vehicle facing toward a pedestrian at a crosswalk", "ego vehicle with vehicles on both sides" @@ -7575,43 +7575,43 @@ "regular vehicle turning right", "vehicle facing away from the ego vehicle", "passenger vehicle turning right", + "dog", + "vehicle making a right turn", "stopped car", - "the active vehicle in front of the vehicle ahead", "stationary object", - "vehicle traveling in the same direction as the ego vehicle", - "vehicle changing lanes", + "parked box trucks", "ego vehicle with vehicles on both sides", "pedestrian to the back-right of the ego vehicle" ], "134bb8e9-9080-3bc5-948d-88d8cc034550": [ "vehicle near multiple bollards", "moving bus to the front-left of the ego vehicle", + "pedestrians over 30 meters away", "dog", + "vehicle being overtaken while approaching another vehicle", "dog near pedestrian", - "pedestrian facing toward the bus", "turning left", - "vehicle crossing path of another vehicle", - "pedestrian facing toward ego vehicle", + "the active vehicle in front of the vehicle ahead", "ego vehicle approaching intersection with crossing dog", "bus with multiple pedestrians waiting on the right side" ], "a47ba6a9-ffa1-3979-bb40-512339284b8b": [ - "vehicle with multiple pedestrians to the left", - "vehicle facing away from the ego vehicle", - "ego vehicle following vehicle being overtaken on right", + "vehicle being followed by ego vehicle while being overtaken on right", + "pedestrians facing each other at close range, possibly conversing", + "vehicle two cars ahead is braking", "group of pedestrians ahead of the ego vehicle", - "group of three people", - "vehicle being overtaken while approaching another vehicle", + "vehicle at intersection facing another vehicle", + "group of people", + "a group of people", "vehicle being overtaken on the left", - "vehicle facing the ego vehicle", "vehicle being crossed by a pedestrian", "pedestrian turning and watching the ego vehicle" ], "dc9c2d63-083f-32c3-90ff-943ca823a245": [ - "bicycle following closely behind a vehicle", - "bicycle facing toward moving traffic", "bicycle sharing lane as a regular vehicle", "car following closely behind bicyclist", + "bicycle traveling with vehicle traffic", + "bicyclist riding in vehicle lane", "bicycle in vehicle lane with vehicle", "vehicle changing lanes while in bike lane", "vehicle changing lanes through bike lane", @@ -7622,12 +7622,12 @@ "61e56102-4d85-3a40-bbba-1a007c816f68": [ "vehicle changing lanes while in bike lane", "stop sign behind a pedestrian", + "vehicle changing lanes to the right", "vehicle facing away from the ego vehicle", "vehicle changing lanes through bike lane", + "vehicle moving at crawling speed", "pedestrian near stop sign", - "vehicle getting passed from the right", - "vehicle changing lanes", - "vehicle facing toward parked vehicles", + "pedestrian on intersection not using a crosswalk", "group of three people", "vehicle two vehicles ahead is at a stop sign" ], @@ -7636,67 +7636,67 @@ "pedestrian with multiple dogs", "vehicle two vehicles ahead is at a stop sign", "dog on roadway", - "dog near pedestrian", "stop sign behind a pedestrian", + "pedestrian walking with dog on sidewalk", "vehicle stopped at a stop sign", "vehicle turning right at stop sign", "vehicle braking at pedestrian crossing", "vehicle traveling over 20 meters per second" ], "1844c439-b94c-332a-bb94-600818350eb4": [ - "left lane change while there is a vehicle to the left", - "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters", + "vehicle turning right with pedestrian in front", + "pedestrian walking alongside bollard", + "vehicle two vehicles ahead is turning", "vehicle turning right with pedestrian waiting", - "vehicle accelerating while changing lanes", "pedestrian crossing at bollard", - "making a left lane change while there is a vehicle to the right", - "vehicle braking near jaywalking pedestrian or stroller", + "vehicle near multiple bollards", "vehicles being passed by a motorcycle on either side", + "motorcyclist", "lane splitting motorcycle", "vehicle two cars ahead is changing lanes" ], "20b00c37-4fe4-31dc-a258-dae253ae6992": [ - "vehicle following another vehicle too closely", "ego vehicle approaching stopped delivery truck", - "vehicle getting passed from the right", - "left lane change while there is a vehicle to the left", - "oncoming vehicle changing lanes", + "ego vehicle in dense traffic with lane-changing vehicles", + "accelerating vehicle changing lanes to the right", "making a left lane change while there is a vehicle to the right", + "vehicle crossing path of another vehicle", "truck on intersection", + "ego vehicle two cars ahead of another vehicle", "accelerating truck", "box truck changing lanes to the left", "vehicle to the back right of the ego vehicle" ], "8d8b550e-d0be-3cbb-a371-49ec36fa619f": [ - "vehicle directly facing a moving pedestrian from 5-15 meters away", + "pedestrians facing each other at close range, possibly conversing", "vehicle being crossed by a pedestrian", + "vehicle being overtaken on the left", + "pedestrian facing toward ego vehicle", "pedestrian walking with dog on sidewalk", "pedestrian with multiple dogs", - "vehicle being passed on the left by another vehicle", + "vehicle behind another vehicle that has a pedestrian on its right side", "unattended dog", - "dog near pedestrian", - "dog", "vehicle approaching and facing a stopped vehicle at an intersection", "ego vehicle near construction cone" ], "69c0ec7c-e289-3c4d-ade3-d2287ec34026": [ - "pedestrian facing toward ego vehicle", + "stationary construction barrel", "bicycle near a bus", - "construction item on road", "stopped vehicles at intersection being crossed by pedestrians", "pedestrian crossing ahead of ego vehicle", "wheeled device (e.g., golf cart, segway) sharing a lane with a moving vehicle", "ego vehicle approaching crossing pedestrians", - "vehicle traveling in the same direction as the ego vehicle", + "jaywalking pedestrian", + "vehicle stopped at construction barrel", "ego vehicle with parked bicycles ahead", "vehicle two cars ahead is being crossed by a pedestrian" ], "7f40c022-9f9d-3805-abf8-7533175b3f25": [ "vehicle turning left at intersection while sharing lane with a bus", + "motorcycle between two vehicles", "ego vehicle merging between two regular vehicles", "motorcyclist braking hard", "ego vehicle changing lanes to the left", - "motorcycle between stopped vehicles", "school bus on intersection", "construction item on road", "vehicle surrounded by bicycles on all sides", @@ -7704,34 +7704,34 @@ "vehicle passing school bus at stop" ], "26daba71-ca0a-37e9-9dc6-0f81f02c0afd": [ - "vehicle turning right with pedestrian in front", "pedestrian turning and watching the ego vehicle", "vehicles being passed by a motorcycle on either side", "bicyclist riding in vehicle lane", - "vehicle with a bicycle to its right", + "pedestrian on intersection not using a crosswalk", "ego vehicle passing parked motorcycle", - "vehicle accelerating while changing lanes", + "left lane change while there is a vehicle to the left", "vehicle two vehicles ahead is turning", + "ego vehicle with parked bicycles ahead", "motorcycle or pedestrian within 5 meters to the right", "bicyclist on intersection" ], "2716d83e-8c4f-39a3-a2a3-d5e255fe8a03": [ - "oncoming vehicle changing lanes", + "stationary construction barrel", + "pedestrian near construction cone", + "vehicle accelerating while changing lanes", "pedestrian turning and watching the ego vehicle", - "vehicle turning right with pedestrian waiting", + "ego vehicle near construction barrel", "bicycle in vehicle lane with vehicle", "bicycle on intersection", - "bicycle facing toward a vehicle", - "bicyclist riding in vehicle lane", - "bicyclist on intersection", + "making a left lane change while there is a vehicle to the right", "bicycle traveling alongside construction indicators", "vehicle passing near person in wheelchair" ], "b4d5e738-b937-33fd-8131-bf1df36f598a": [ + "making a left lane change while there is a vehicle to the right", "school bus at pedestrian crossing", - "vehicle braking heavily", - "vehicle changing lanes while on an intersection", "ego vehicle changing lanes to the right with a vehicle ahead", + "vehicle two cars ahead is braking", "vehicle braking at pedestrian crossing", "motorcyclist braking hard", "school bus on intersection", @@ -7740,22 +7740,22 @@ "ego vehicle approaching pedestrian at crosswalk" ], "5cf52bbe-f7f4-30c9-a4c2-a1fbb93513e4": [ + "vehicle approaching stopped vehicle at intersection", + "stopped vehicle facing a turning vehicle between 5-20 meters away", "pedestrian crossing at bollard", "vehicle with multiple construction cones on the left side", - "vehicle facing away from the ego vehicle", - "ego vehicle approaching crossing pedestrians", - "vehicle turning at intersection with nearby pedestrians", "multiple pedestrians crossing ahead", + "the vehicle behind another vehicle being crossed by a jaywalking pedestrian", "vehicle being tailgated while approaching stopped traffic", "moving pedestrian within 3 meters to the left of ego vehicle", "vehicle changing lanes while on an intersection", "vehicle two vehicles ahead is turning" ], "c062ba0f-7591-3225-a57d-8181622dc2da": [ - "vehicle moving at crawling speed", - "vehicle being tailgated while approaching stopped traffic", "vehicle facing away from the ego vehicle", + "vehicle to the back right of the ego vehicle", "the active vehicle in front of the vehicle ahead", + "stopped vehicle facing a turning vehicle between 5-20 meters away", "ego vehicle near construction barrel", "the vehicle two cars in front of the ego vehicle", "vehicle being followed by ego vehicle while being overtaken on right", @@ -7764,157 +7764,157 @@ "vehicle two vehicles ahead is turning" ], "57636c80-9335-3aae-af70-11755db93854": [ - "left lane change while there is a vehicle to the left", - "accelerating passenger vehicle", + "the vehicle two cars behind the ego vehicle", "objects getting closer to the ego vehicle", - "vehicle within 5 meters of a bicycle", - "a group of people", - "group of people", - "vehicle two cars ahead is changing lanes", - "ego vehicle with vehicles on both sides", - "motorcycle passing between parked vehicles", - "the vehicle behind another vehicle being crossed by a jaywalking pedestrian" + "moving bicycle directly to the left of the ego vehicle", + "pedestrian in front of a bicyclist who is to the left of a vehicle", + "stopped car", + "pedestrian facing toward the bus", + "ego vehicle in dense traffic with lane-changing vehicles", + "bicyclist on intersection", + "pedestrian turning and watching the ego vehicle", + "bus with at least 3 pedestrians within 5 meters" ], "7c696d35-e34f-38b0-b4b4-e88803ad1f6a": [ + "regular vehicles that are stopped or nearly stopped", + "vehicle with multiple bicycles ahead", "dog near an intersection", - "vehicle braking near jaywalking pedestrian or stroller", + "ego vehicle with parked bicycles ahead", + "jaywalking pedestrian", "ego vehicle near bollard", - "pedestrian crossing in front of vehicle at crosswalk", "bicycle near traffic cone", - "vehicle two vehicles ahead is being crossed by a pedestrian", - "pedestrian near construction cone", - "stroller", + "group of three people", "ego vehicle approaching intersection with crossing dog", "pedestrian walking with stroller" ], "9a8aea4b-9b61-3884-9f3c-84c3c36e6373": [ "vehicle accelerating aggressively", "car driving in bus lane", + "pedestrian walking alongside bollard", "bus with another bus in its lane", "vehicle changing lanes while on an intersection", "bus in bus lane", - "vehicle changing lanes to the right", "bus changing lanes", - "multiple buses within 50 meters ahead", + "pedestrian near construction cone", "ego vehicle changing lanes to the right with a vehicle ahead", "bicycle sharing lane as a regular vehicle" ], "d842ce41-8d9c-3c0f-9c04-595d97be5140": [ - "pedestrian to the back-right of the ego vehicle", + "vehicle two vehicles ahead is changing lanes", + "vehicle with multiple pedestrians to the left", "city bus", "ego vehicle near articulated bus", - "object that hasn't moved", "regular vehicles that are stopped or nearly stopped", "stop sign behind a pedestrian", "vehicle with multiple construction cones on the left side", - "stopped car", + "vehicle two cars ahead is changing lanes", "vehicle passing bicycle near mobile pedestrian sign", "vehicle two cars ahead is being crossed by a pedestrian" ], "b7843066-abbd-3275-ac52-90a8363f65f7": [ - "vehicle changing lanes to the right", + "vehicle facing toward parked vehicles", "vehicle near multiple bollards", + "ego vehicle two cars ahead of another vehicle", "any vehicle in front of stop sign", - "vehicle changing lanes", "vehicle turning right at stop sign", "vehicle stopped at a stop sign", + "ego vehicle following vehicle being overtaken on right", "vehicle two vehicles ahead is at a stop sign", - "vehicle being followed by ego vehicle while being overtaken on right", "group of pedestrians ahead of the ego vehicle", "vehicle navigating near multiple bicycles" ], "e3a935bf-1428-32a4-8d53-caa71ee3de8f": [ + "motorcycle or pedestrian within 5 meters to the right", + "pedestrian crossing ahead of ego vehicle", "vehicle at a stop sign", "vehicle two cars ahead is being crossed by a pedestrian", - "turning left", + "oncoming vehicle changing lanes", "vehicle two cars ahead is braking", "vehicle with multiple bicycles ahead", - "vehicle hard braking with another vehicle ahead", - "vehicle stopped at a stop sign", "vehicle navigating near multiple bicycles", "bicycle facing toward moving traffic", "vehicle two vehicles ahead is being crossed by a pedestrian" ], "156a412d-3699-3c1c-9ada-6ab587347996": [ "vehicle accelerating on intersection", - "motorcyclist", - "turning left", + "vehicle to the back right of the ego vehicle", + "two cars back from the ego vehicle", "moving bus to the front-left of the ego vehicle", - "the active vehicle in front of the vehicle ahead", - "pedestrians over 30 meters away", - "vehicle braking heavily", + "accelerating passenger vehicle", + "vehicle accelerating more than two meters per second", + "vehicle two vehicles ahead is braking", "bus within 5 meters to either side of ego vehicle", "ego vehicle two cars ahead of another vehicle", "passenger vehicle swerving left" ], "cd822baf-4aa1-33fa-bfe5-d91386598edb": [ - "motorcyclist", - "pedestrian walking past right side of vehicle", - "vehicle behind another vehicle that has a pedestrian on its right side", - "vehicle in close proximity to bicycle", + "vehicle being passed on the left by another vehicle", + "vehicle at a stop sign", + "vehicle facing the ego vehicle", + "vehicle following another vehicle too closely", + "vehicle facing toward a pedestrian at a crosswalk", + "stationary object", "the active vehicle in front of the vehicle ahead", - "ego vehicle approaching pedestrian at crosswalk", "the vehicle two cars behind the ego vehicle", - "pedestrians using designated crossing", "ego vehicle approaching bicycle merging from bike lane", "vehicle navigating near multiple bicycles" ], "953087a4-f704-37fe-a60f-82877e84a413": [ "ego vehicle following vehicle being overtaken on right", - "vehicle to the back right of the ego vehicle", + "vehicle getting passed from the right", "vehicle changing lanes while in bike lane", "vehicle changing lanes through bike lane", - "vehicle moving at crawling speed", - "vehicle traveling in the same direction as the ego vehicle", + "vehicle being followed by ego vehicle while being overtaken on right", + "vehicle facing toward a pedestrian at a crosswalk", + "vehicle accelerating towards pedestrian crossing", "a group of people", - "pedestrians using designated crossing", "ego vehicle merging between two regular vehicles", "vehicle two vehicles ahead is turning" ], "e5178032-d260-3bc8-968e-a5cb98b6ae5a": [ - "vehicle behind another vehicle that has a pedestrian on its right side", - "vehicle braking heavily", - "vehicle accelerating on intersection", - "vehicle accelerating while changing lanes", + "vehicle crossing path of another vehicle", + "vehicle facing the ego vehicle", "vehicle two cars ahead is changing lanes", - "vehicle changing lanes", + "parked vehicle", + "vehicle traveling in the opposite direction as the ego vehicle", "construction item on road", "vehicle hard braking with another vehicle ahead", + "motorcycle or pedestrian within 5 meters to the right of the ego vehicle", "moving pedestrian within 3 meters to the left of ego vehicle", "construction barrel with at least 2 construction cones within 3 meters" ], "8ca98d88-67b5-385e-80f7-b32758668fab": [ - "ego vehicle with vehicles on both sides", + "group of people", + "pedestrians facing each other at close range, possibly conversing", "pedestrian near bollard", - "active vehicle at stop sign", "ego vehicle near stroller on sidewalk", - "pedestrian walking alongside bollard", "ego vehicle changing lanes to the left", - "vehicle two cars ahead is changing lanes", + "a group of people", + "vehicle near multiple bollards", "stroller", "stopped vehicle facing a turning vehicle between 5-20 meters away", "vehicle accelerating more than two meters per second" ], "51e6b881-e5a1-30c8-ae2b-02891d5a54ce": [ + "vehicle facing and heading toward pedestrian group", "vehicle being tailgated while approaching stopped traffic", - "vehicle at intersection facing another vehicle", - "pedestrian walking alongside stopped bus", + "stopped vehicle facing a turning vehicle between 5-20 meters away", "stopped vehicles at intersection being crossed by pedestrians", "bus making right turn", "vehicle turning at intersection with nearby pedestrians", "passenger vehicle turning left at intersection", - "vehicle two cars ahead is being crossed by a pedestrian", + "vehicle making a right turn", "vehicle navigating near multiple bicycles", "vehicle two cars ahead is braking" ], "88ebed6a-e9a4-3d60-9011-ec1df75cc8d6": [ + "stopped vehicle facing a turning vehicle between 5-20 meters away", "pedestrian walking with stroller", "pedestrian near bollard", - "dog", "vehicle braking near jaywalking pedestrian or stroller", - "dog near pedestrian", "pedestrian with multiple dogs", "pedestrian walking with dog on sidewalk", + "pedestrian walking alongside bollard", "pedestrians using designated crossing", "multiple buses within 50 meters ahead", "dog on roadway" @@ -7922,12 +7922,12 @@ "189c8512-b034-3d58-a372-cf48eacf02dd": [ "parked box trucks", "box truck braking in front of ego vehicle", + "vehicle changing lanes while on an intersection", "ego vehicle following vehicle that is being overtaken on the right", - "oncoming vehicle changing lanes", - "making a left lane change while there is a vehicle to the right", + "vehicle two cars ahead is braking", "pedestrian on road not facing traffic", "left lane change while there is a vehicle to the left", - "jaywalking pedestrian", + "ego vehicle approaching stopped delivery truck", "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters", "the vehicle behind another vehicle being crossed by a jaywalking pedestrian" ], @@ -7937,101 +7937,101 @@ "bus making right turn", "vehicle turning right with pedestrian waiting", "vehicle passing stopped truck with pedestrian nearby", - "bus within 5 meters to either side of ego vehicle", - "pedestrian facing toward the bus", - "ego vehicle near construction cone", + "vehicle braking near jaywalking pedestrian or stroller", + "stroller", + "vehicle behind another vehicle that has a pedestrian on its right side", "vehicle turning left at intersection while sharing lane with a bus", "vehicle approaching stopped vehicle at intersection" ], "e757cddd-5ff5-305a-af11-d7c6747d3979": [ "stop sign behind a pedestrian", "the active vehicle in front of the vehicle ahead", + "pedestrian walking with dog on sidewalk", + "bus with at least 3 pedestrians within 5 meters", "vehicle two vehicles ahead is braking", - "stopped car", - "pedestrian near stop sign", + "pedestrians facing each other at close range, possibly conversing", + "stationary object", "vehicle behind another vehicle that has a pedestrian on its right side", - "dog", - "pedestrian to the back-right of the ego vehicle", "pedestrian turning and watching the ego vehicle", "bus changing lanes" ], "f8825b65-5631-3417-8309-bd5677d694aa": [ - "pedestrian to the back-right of the ego vehicle", + "vehicle sharing a lane with another vehicle", "vehicle two vehicles ahead is braking", "vehicle behind another vehicle that has a pedestrian on its right side", + "pedestrian walking past right side of vehicle", "pedestrian on road not facing traffic", - "vehicle traveling in the opposite direction as the ego vehicle", + "stopped car", "at least active 2 vehicles within 15 meters behind ego vehicle", "turning left", - "vehicle with multiple pedestrians to the left", "vehicle changing lanes to the right", "pedestrian walking between two stopped vehicles" ], "debbba6b-8cb8-3ab6-adfe-54fcc6b02839": [ "vehicle turning left at intersection while sharing lane with a bus", + "pedestrian crossing between bollards", "vehicle two vehicles ahead is being crossed by a pedestrian", - "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters", "pedestrian to the back-right of the ego vehicle", "pedestrian walking alongside bollard", + "group of three people", "vehicle approaching stopped vehicle at intersection", "car driving in bus lane", - "vehicles being passed by a motorcycle on either side", "at least active 2 vehicles within 15 meters behind ego vehicle", "vehicle turning left while pedestrian crosses at crosswalk" ], "54bc6dbc-ebfb-3fba-b5b3-57f88b4b79ca": [ - "ego vehicle near construction barrel", + "construction item on road", "objects getting closer to the ego vehicle", "vehicle being tailgated while approaching stopped traffic", + "passenger vehicle turning right", "vehicle turning right near construction zone", "stopped vehicle facing a turning vehicle between 5-20 meters away", + "vehicle approaching and facing a stopped vehicle at an intersection", "vehicle making a right turn", - "stationary construction barrel", - "car turning right", "vehicle to the back right of the ego vehicle", "group of three people" ], "62879808-1586-4d49-80fe-2f547e355191": [ - "vehicle changing lanes to the right", + "stopped vehicles at intersection being crossed by pedestrians", "vehicle changing lanes", - "pedestrian near construction cone", + "jaywalking pedestrian", + "bus changing lanes", + "ego vehicle approaching pedestrian at crosswalk", "vehicle with multiple construction cones on the left side", - "vehicle changing lanes while on an intersection", "multiple buses within 50 meters ahead", "car driving in bus lane", - "vehicle directly facing a moving pedestrian from 5-15 meters away", "bicycle and vehicle traveling in bike lane", "vehicle being tailgated while approaching stopped traffic" ], "0322b098-7e42-34db-bcec-9a4d072191e9": [ - "ego vehicle following vehicle that is being overtaken on the right", "ego vehicle merging between two regular vehicles", "ego vehicle changing lanes to the right with a vehicle ahead", - "pedestrian to the back-right of the ego vehicle", - "the vehicle behind another vehicle being crossed by a jaywalking pedestrian", - "pedestrian facing toward the bus", - "group of three people", + "pedestrian crossing between bollards", + "oncoming vehicle changing lanes", + "left lane change while there is a vehicle to the left", + "making a left lane change while there is a vehicle to the right", "bus with another bus in its lane", + "vehicle turning right with pedestrian waiting", "pedestrian between moving vehicles on both sides", "multiple buses within 50 meters ahead" ], "c6c55112-0078-3867-a63f-1861a0125b8d": [ "vehicle accelerating aggressively", + "vehicle facing toward a pedestrian at a crosswalk", "ego vehicle two cars ahead of another vehicle", - "making a left lane change while there is a vehicle to the right", - "vehicle at a stop sign", "vehicle being overtaken on the left", "pedestrians using designated crossing", - "vehicle braking heavily", - "vehicle two vehicles ahead is braking", + "vehicle accelerating while changing lanes", + "vehicle behind another vehicle that has a pedestrian on its right side", + "regular vehicles that are stopped or nearly stopped", "vehicle braking at pedestrian crossing", "pedestrian crossing in front of vehicle at crosswalk" ], "5bd6bd4d-3c89-3794-9935-2d044ce6ef37": [ "vehicle changing lanes near message board trailer", - "passenger vehicle turning right", - "vehicle traveling in the opposite direction as the ego vehicle", + "vehicle being overtaken while approaching another vehicle", "vehicle two vehicles ahead is turning", + "stopped car", "vehicle passing truck with pedestrian crossing ahead", "objects getting closer to the ego vehicle", "vehicle to the back right of the ego vehicle", @@ -8042,36 +8042,36 @@ "956dd277-e000-4c6c-af4a-aee4d86971c9": [ "vehicle two cars ahead is braking", "active vehicle at stop sign", - "vehicle two vehicles ahead is braking", "vehicles being passed by a motorcycle on either side", + "vehicle directly facing a moving pedestrian from 5-15 meters away", "passenger vehicle swerving left", "vehicle traveling in the opposite direction as the ego vehicle", "any vehicle in front of stop sign", - "vehicle traveling in the same direction as the ego vehicle", + "vehicle moving at crawling speed", "vehicle changing lanes to the right", "vehicle changing lanes while on an intersection" ], "8934694e-8085-3673-96dd-eacebe691ed1": [ - "vehicle within 5 meters of a bicycle", - "a group of people", - "vehicle with a bicycle to its right", "ego vehicle with parked bicycles ahead", "vehicle changing lanes through bike lane", "ego vehicle near construction barrel", + "group of people", "vehicle changing lanes while in bike lane", + "ego vehicle in dense traffic with lane-changing vehicles", + "pedestrian walking alongside stopped bus", "bus with at least 3 pedestrians within 5 meters", "ego vehicle following vehicle that is being overtaken on the right", "ego vehicle following bicycle closely" ], "2aea7bd1-432a-43c5-9445-651102487f65": [ - "regular vehicle turning right", "bicycle passing by parked vehicle", "bicycle facing toward a vehicle", + "vehicle turning at intersection with nearby pedestrians", "bicycle facing toward moving traffic", - "vehicle in close proximity to bicycle", "vehicle turning left while bicycle crosses from right", - "regular vehicles that are stopped or nearly stopped", - "car following closely behind bicyclist", + "pedestrian near bollard", + "passenger vehicle turning right", + "pedestrian facing toward ego vehicle", "vehicle stopped at construction barrel", "vehicle being passed on the left by another vehicle" ], @@ -8079,58 +8079,58 @@ "construction barrel with at least 2 construction cones within 3 meters", "ego vehicle near construction barrel", "stop sign behind a pedestrian", + "vehicle at intersection facing another vehicle", "vehicle turning right near construction zone", - "oncoming vehicle changing lanes", - "turning left", + "vehicle accelerating on intersection", "ego vehicle in dense traffic with lane-changing vehicles", - "passenger vehicle swerving left", + "vehicle near construction barrel", "group of people", "vehicle in close proximity to bicycle" ], "c780d53a-2d37-3cd8-9e89-530966aef53e": [ - "vehicle following another vehicle too closely", - "vehicle traveling in the opposite direction as the ego vehicle", - "vehicle being overtaken on the left", - "vehicle getting passed from the right", + "the active vehicle in front of the vehicle ahead", + "accelerating passenger vehicle", + "stationary object", + "vehicle at a stop sign", + "vehicle facing toward parked vehicles", "vehicle being passed on the left by another vehicle", "vehicle traveling over 20 meters per second", - "vehicle sharing a lane with another vehicle", - "vehicle to the back right of the ego vehicle", + "ego vehicle with vehicles on both sides", "vehicle with multiple construction cones on the left side", "vehicle two vehicles ahead is at a stop sign" ], "9bdb4139-173f-33d3-8730-e29752d737d3": [ "stroller", "pedestrian walking with stroller", - "ego vehicle approaching crossing pedestrians", + "motorcycle between stopped vehicles", "pedestrian crossing at bollard", "vehicle braking near jaywalking pedestrian or stroller", + "motorcycle or pedestrian within 5 meters to the right of the ego vehicle", "multiple pedestrians crossing ahead", - "pedestrian crossing ahead of ego vehicle", - "motorcycle between two vehicles", + "bicycle on intersection", "stopped car", "pedestrian crossing in front of cyclist near intersection" ], "e4f6dbab-f2eb-3bd2-9dbc-88640e3b4a5f": [ "vehicle accelerating more than two meters per second", + "vehicle accelerating aggressively", "vehicle braking heavily", "vehicle hard braking with another vehicle ahead", - "vehicle two cars ahead is braking", - "box trucks within 10 meters of an intersection", - "two cars back from the ego vehicle", - "vehicle behind another vehicle that has a pedestrian on its right side", "vehicle crossing path of another vehicle", + "motorcyclist", + "vehicle moving at crawling speed", + "vehicle changing lanes", "vehicle passing truck with pedestrian crossing ahead", "motorcycle in bike lane" ], "93582b51-5be1-30cd-abb0-3eac16dd6dbc": [ "vehicle to the back right of the ego vehicle", - "vehicle behind another vehicle that has a pedestrian on its right side", - "vehicle moving at crawling speed", - "vehicle changing lanes", - "vehicle directly facing a moving pedestrian from 5-15 meters away", - "ego vehicle in dense traffic with lane-changing vehicles", + "vehicle facing toward parked vehicles", + "pedestrians over 30 meters away", + "vehicle traveling in the same direction as the ego vehicle", + "stationary object", "vehicle facing the ego vehicle", + "parked vehicle", "vehicle facing away from the ego vehicle", "pedestrian to the back-right of the ego vehicle", "vehicle two vehicles ahead is being crossed by a pedestrian" @@ -8140,22 +8140,22 @@ "pedestrian to the left of a truck", "pedestrian crossing at bollard", "truck on intersection", - "pedestrians facing each other at close range, possibly conversing", - "regular vehicles that are stopped or nearly stopped", + "vehicle accelerating while changing lanes", + "two cars back from the ego vehicle", "truck sharing a lane with another truck", - "group of people", + "vehicle being crossed by a pedestrian", "ego vehicle approaching pedestrian at crosswalk", "pedestrians using designated crossing" ], "b403f8a3-4cad-333e-8557-d7da2e163f4b": [ - "bus with at least 3 pedestrians within 5 meters", - "vehicle facing toward a pedestrian at a crosswalk", - "pedestrian on intersection not using a crosswalk", - "vehicle navigating near multiple bicycles", + "pedestrian near construction cone", + "pedestrian crossing in front of vehicle at crosswalk", + "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters", "pedestrian walking alongside stopped bus", - "stopped vehicles at intersection being crossed by pedestrians", + "the vehicle behind another vehicle being crossed by a jaywalking pedestrian", + "vehicle with multiple bicycles ahead", "vehicle in close proximity to bicycle", - "vehicle accelerating while changing lanes", + "multiple pedestrians crossing ahead", "vehicle facing and heading toward pedestrian group", "bus with another bus in its lane" ], @@ -8163,9 +8163,9 @@ "bus with another bus in its lane", "accelerating wheeled devices", "multiple buses within 50 meters ahead", - "motorcycle or pedestrian within 5 meters to the right", + "motorcycle between two vehicles", "vehicle passing stopped truck with pedestrian nearby", - "vehicle being overtaken on the right", + "ego vehicle approaching stopped delivery truck", "box truck braking in front of ego vehicle", "motorcyclist", "vehicle changing lanes while on an intersection", @@ -8174,12 +8174,12 @@ "298715e3-b204-3bf5-b8c2-fe3be9e310e8": [ "ego vehicle near construction barrel", "vehicle stopped at construction barrel", + "vehicle near construction barrel", "pedestrian near stop sign", - "vehicle at a stop sign", "vehicle maneuvering between construction barriers", "construction item on road", "vehicle stopped at a stop sign", - "vehicle two cars ahead is being crossed by a pedestrian", + "stationary construction barrel", "vehicle turning right near construction zone", "truck on intersection" ], @@ -8187,23 +8187,23 @@ "bicycle in same lane as a vehicle", "city bus", "dog near an intersection", + "pedestrian crossing ahead of ego vehicle", + "bicycle traveling alongside parked vehicles", "multiple pedestrians crossing ahead", - "pedestrian walking with dog on sidewalk", - "ego vehicle approaching crossing pedestrians", "pedestrian in front of a bicyclist who is to the left of a vehicle", "vehicle turning left while pedestrian crosses at crosswalk", "bus changing lanes", "multiple buses within 50 meters ahead" ], "e424d4f7-4b28-322f-b630-31d42ae528eb": [ - "vehicle being followed by ego vehicle while being overtaken on right", - "at least active 2 vehicles within 15 meters behind ego vehicle", "ego vehicle changing lanes to the left", "vehicle braking heavily", "vehicle hard braking with another vehicle ahead", "box truck changing lanes to the left", + "vehicle two cars ahead is braking", "box truck changing lanes to the right", "box truck changing lanes ahead", + "ego vehicle following vehicle being overtaken on right", "motorcyclist braking hard", "vehicle approaching and facing a stopped vehicle at an intersection" ], @@ -8213,30 +8213,30 @@ "bicycle traveling against traffic", "bicycle facing toward moving traffic", "bicycle and vehicle traveling in bike lane", - "stationary construction barrel", "ego vehicle following vehicle being overtaken on right", - "bicycle traveling with vehicle traffic", + "car following closely behind bicyclist", + "bicycle following closely behind a vehicle", "left lane change while there is a vehicle to the left", "bicyclist on intersection" ], "f7cdc2d1-f59a-30a2-aae8-8bb81c769e6e": [ + "object that hasn't moved", "at least active 2 vehicles within 15 meters behind ego vehicle", "turning left", - "vehicle following another vehicle too closely", - "vehicle moving at crawling speed", "ego vehicle near bollard", - "vehicle facing the ego vehicle", - "vehicle near multiple bollards", - "vehicle facing away from the ego vehicle", + "pedestrian walking past right side of vehicle", + "pedestrians over 30 meters away", + "vehicle behind another vehicle that has a pedestrian on its right side", + "the active vehicle in front of the vehicle ahead", "vehicle being followed by ego vehicle while being overtaken on right", "the vehicle two cars in front of the ego vehicle" ], "0749e9e0-ca52-3546-b324-d704138b11b5": [ + "making a left lane change while there is a vehicle to the right", "truck sharing a lane with another truck", "accelerating truck", - "truck on intersection", "box truck changing lanes to the right", - "vehicle two cars ahead is changing lanes", + "vehicle two vehicles ahead is braking", "ego vehicle in dense traffic with lane-changing vehicles", "vehicle two vehicles ahead is changing lanes", "box trucks within 10 meters of an intersection", @@ -8245,143 +8245,143 @@ ], "b81922e7-092f-3052-8cd1-fec6a6763295": [ "box truck changing lanes ahead", - "vehicle changing lanes to the right", - "vehicle near construction barrel", "box truck changing lanes to the left", - "vehicle changing lanes while on an intersection", "construction item on road", + "vehicle being overtaken on the left", + "vehicle being overtaken while approaching another vehicle", + "box trucks within 10 meters of an intersection", "vehicle maneuvering between construction barriers", "ego vehicle near construction barrel", "truck in the same lane as a bus", "pedestrian walking between trailers" ], "5d333477-796b-3e49-bf41-0cdbed39c8dd": [ - "stationary object", + "pedestrian turning and watching the ego vehicle", + "vehicle changing lanes while in bike lane", "vehicle facing and accelerating toward pedestrian on road", - "vehicle at intersection facing another vehicle", "vehicle changing lanes through bike lane", - "left lane change while there is a vehicle to the left", - "vehicle directly facing a moving pedestrian from 5-15 meters away", - "stopped car", + "objects getting closer to the ego vehicle", + "vehicle making a right turn", + "pedestrian crossing between bollards", "ego vehicle near bollard", - "vehicle traveling over 20 meters per second", - "vehicle two vehicles ahead is at a stop sign" + "ego vehicle near pedestrian crossing sign", + "vehicle passing bicycle near mobile pedestrian sign" ], "5aed7fcd-651c-38a7-9523-9d48bf92aeaa": [ - "vehicle following another vehicle too closely", - "object that hasn't moved", + "parked vehicle", + "vehicle moving at crawling speed", "the vehicle two cars in front of the ego vehicle", - "parked box trucks", "stopped vehicle facing a turning vehicle between 5-20 meters away", - "regular vehicles that are stopped or nearly stopped", - "vehicle crossing path of another vehicle", + "vehicle being overtaken on the right", + "truck on intersection", "bus in the same lane as a truck", - "vehicle braking near pedestrian crossing", - "ego vehicle passing parked bus" + "stationary object", + "pedestrian crossing between bollards", + "vehicle braking near pedestrian crossing" ], "41b6f7d7-e431-3992-b783-74b9edf42215": [ + "pedestrians facing each other at close range, possibly conversing", "pedestrian crossing in front of vehicle at crosswalk", "stopped vehicles at intersection being crossed by pedestrians", - "passenger vehicle turning right", - "vehicle making a right turn", - "vehicle turning at intersection with nearby pedestrians", - "car turning right", + "regular vehicle turning right", + "vehicle stopped at a stop sign", + "passenger vehicle turning left at intersection", "stopped vehicle facing a turning vehicle between 5-20 meters away", "group of people", - "ego vehicle merging between two regular vehicles", - "vehicle turning right at stop sign" + "passenger vehicle swerving left", + "vehicle facing a group of three or more pedestrians at a crosswalk within 10 meters" ], "aa105408-2974-35e7-ae76-35060cfde21a": [ "car following closely behind bicyclist", - "bicycle following closely behind a vehicle", - "pedestrian crossing at bollard", + "bicycle in same lane as a vehicle", "ego vehicle approaching stopped delivery truck", + "bicycle sharing lane as a regular vehicle", "ego vehicle approaching cyclist in same lane", + "bicyclist on intersection", "pedestrian in front of a bicyclist who is to the left of a vehicle", "box trucks within 10 meters of an intersection", - "bicycle on intersection", "ego vehicle merging between two regular vehicles", "ego vehicle following vehicle that is being overtaken on the right" ], "93b755f1-f865-44dc-a98d-cae5eb1a25d0": [ - "the active vehicle in front of the vehicle ahead", - "stationary object", - "a group of people", - "vehicle to the back right of the ego vehicle", + "any vehicle in front of stop sign", + "vehicle at a stop sign", + "vehicle traveling in the same direction as the ego vehicle", "group of pedestrians ahead of the ego vehicle", "vehicle behind another vehicle that has a pedestrian on its right side", - "vehicle moving at crawling speed", + "dog", "active vehicle at stop sign", + "group of people", "oncoming vehicle changing lanes", "vehicle accelerating aggressively" ], "76038978-47aa-30ed-bfa1-2d63753a866c": [ "ego vehicle approaching pedestrian at crosswalk", "ego vehicle changing lanes to the right with a vehicle ahead", + "pedestrian near construction cone", + "pedestrian near bollard", "pedestrian near stop sign", - "pedestrian crossing between bollards", - "ego vehicle with parked bicycles ahead", - "stop sign behind a pedestrian", - "group of three people", - "pedestrian walking alongside bollard", + "pedestrian on intersection not using a crosswalk", + "pedestrian to the back-right of the ego vehicle", + "vehicle near multiple bollards", "stopped vehicles at intersection being crossed by pedestrians", "vehicle traveling over 20 meters per second" ], "902d5e72-b665-3615-af2d-a2b6164864b2": [ - "vehicle approaching stopped vehicle at intersection", - "pedestrian between moving vehicles on both sides", "pedestrians facing each other at close range, possibly conversing", "vehicle braking near pedestrian crossing", + "accelerating vehicle changing lanes to the right", "ego vehicle merging between two regular vehicles", + "vehicle changing lanes while on an intersection", "ego vehicle changing lanes to the left", - "group of people", + "vehicle two cars ahead is changing lanes", "vehicle braking at pedestrian crossing", "vehicle facing toward a pedestrian at a crosswalk", "pedestrian crossing ahead of ego vehicle" ], "fa708289-f2b2-399e-989e-53f83fa379c5": [ - "ego vehicle with vehicles on both sides", "bus within 5 meters to either side of ego vehicle", "moving bus to the front-left of the ego vehicle", - "parked box trucks", - "box trucks within 10 meters of an intersection", + "turning left", "construction item on road", + "vehicle near construction barrel", "ego vehicle near construction barrel", + "ego vehicle approaching stopped delivery truck", "box truck braking in front of ego vehicle", "car turning right", "making a left lane change while there is a vehicle to the right" ], "0a8a4cfa-4902-3a76-8301-08698d6290a2": [ - "vehicle accelerating on intersection", - "vehicle behind another vehicle that has a pedestrian on its right side", + "any vehicle in front of stop sign", + "vehicle moving at crawling speed", "vehicle at a stop sign", "vehicle two cars ahead is braking", - "turning left", "ego vehicle near construction cone", "vehicle accelerating aggressively", - "vehicle at intersection facing another vehicle", + "at least active 2 vehicles within 15 meters behind ego vehicle", + "pedestrian to the back-right of the ego vehicle", "group of people", "passenger vehicle turning left at intersection" ], "c0d36fde-5672-430a-9dd1-3e2a5d4f6cab": [ + "pedestrians using designated crossing", "bicycle on intersection", - "pedestrian walking past right side of vehicle", - "car following closely behind bicyclist", - "bicycle facing toward a vehicle", + "group of three people", + "the active vehicle in front of the vehicle ahead", + "pedestrian on intersection not using a crosswalk", "bicycle in vehicle lane with vehicle", - "ego vehicle near bollard", "vehicle two vehicles ahead is being crossed by a pedestrian", - "bicycle facing toward moving traffic", + "bicyclist on intersection", "ego vehicle changing lanes to the right with a vehicle ahead", "making a left lane change while there is a vehicle to the right" ], "1a4e2d86-23d4-3a0d-a9ac-8b0936ae94ce": [ "stroller", "vehicles being passed by a motorcycle on either side", - "pedestrian on intersection not using a crosswalk", "vehicle turning right with pedestrian waiting", - "ego vehicle approaching stopped delivery truck", + "motorcyclist", "pedestrian between moving vehicles on both sides", + "motorcycle or pedestrian within 5 meters to the right", "parked box trucks", "vehicle braking near jaywalking pedestrian or stroller", "vehicle passing bicycle near mobile pedestrian sign", @@ -8390,12 +8390,12 @@ "4e1ac476-80a2-3612-bfd7-1abd24d2b644": [ "bicycle near traffic cone", "vehicle being tailgated while approaching stopped traffic", + "pedestrian crossing at bollard", "ego vehicle approaching cyclist in same lane", "motorcyclist traveling opposite to bicycle traffic", "vehicle turning left with a bicycle in front of it", - "truck on intersection", - "objects getting closer to the ego vehicle", - "car following closely behind bicyclist", + "vehicle facing and heading toward pedestrian group", + "bicycle crossing vehicle path at intersection", "truck sharing a lane with another truck", "pedestrian on road not facing traffic" ]