Stem Mission
Baseline scenario context
The shared COLREGS stem mission uses two vessels, ben and abe; ben is the evaluated ownship. Parameter cases keep the encounter setup stable while changing one behavior setting at a time.
COLREGS
H04 COLREGS Parameters
Parameter-regression tests for BHV_AvdColregsV22. These cases vary one tuning knob at a time while holding trusted geometry steady, verifying expected stability or one deliberate behavioral change.
Examples
Representative runs
Case Matrix
All cases
min_util_cpa_low_pass
On crossing_port_standon_band350_bow_pass, sets min_util_cpa_dist=6 to keep the encounter in the stand-on bow branch; passes when COLREGS_AVOID_IX_BEN=32 appears before timeout with zero collisions and CLOSEST_RANGE_EVER>10.
min_util_cpa_default_pass
On the same geometry, uses the stock min_util_cpa_dist=10; passes when index 32 appears before timeout with zero collisions and closest range above 10 meters.
min_util_cpa_high_pass
On the same geometry, raises min_util_cpa_dist to 14 so the encounter enters the stand-on unsure-bow branch; passes when index 36 appears before timeout with zero collisions and closest range above 10 meters.
headon_only_false_pass
On crossing_starboard_giveway_pass, leaves headon_only=false so the crossing is handled as give-way; passes when index 20 appears before timeout with zero collisions and closest range above 10 meters.
headon_only_true_pass
On the same crossing, sets headon_only=true so a non-head-on encounter falls back to CPA; passes when index 50 appears before timeout with zero collisions and closest range above 10 meters.
giveway_bow_dist_default_pass
On giveway_bowdist_above_pass, uses the stock giveway_bow_dist=10; passes when the encounter remains give-way at index 22 before timeout with zero collisions and closest range above 10 meters.
giveway_bow_dist_high_pass
On the same geometry, raises giveway_bow_dist to 12 so the contact is excluded from the give-way bow branch; passes when index 50 appears before timeout with zero collisions and closest range above 10 meters.
max_util_cpa_default_pass
On crossing_port_standon_band315_bow_pass, uses the stock max_util_cpa_dist=18; passes when the encounter enters stand-on bow at index 32 before timeout with zero collisions and closest range above 10 meters.
max_util_cpa_high_pass
On the same geometry, raises max_util_cpa_dist to 24 so the encounter enters stand-on unsure-bow; passes when index 36 appears before timeout with zero collisions and closest range above 10 meters.
velocity_filter_off_pass
On crossing_port_standon_band350_bow_pass, leaves velocity filtering disabled; passes when the encounter reaches stand-on bow index 32 before timeout with zero collisions and closest range above 10 meters.
velocity_filter_on_pass
On the same geometry, enables velocity_filter=min_spd=1.0,max_spd=2.0,pct=40, changing the projected CPA enough to enter stand-on unsure-bow; passes when index 36 appears before timeout with zero collisions and closest range above 10 meters.
eval_tol_default_pass
On overtaking_starboard_range_far_pass, uses the stock evaluation horizon, first requires overtaking-port index 43, then passes when Ben arrives with zero collisions, no timeout, closest range from 20.7 through 22.1 meters, Claire never port of Ben, Claire fore of Ben, and no track crossing.
eval_tol_short_pass
On the same overtaking geometry, sets eval_tol=30, first requires index 43, then passes when Ben arrives with zero collisions, no timeout, closest range from 23.5 through 24.8 meters, Claire never port of Ben, Claire fore of Ben, and no track crossing.
eval_tol_long_pass
On the same overtaking geometry, sets eval_tol=240, first requires index 43, then passes when Ben arrives with zero collisions, no timeout, closest range from 20.7 through 21.8 meters, Claire never port of Ben, Claire fore of Ben, and no track crossing.
pwt_outer_dist_default_pass
On crossing_port_standon_southwest_outer_above_pass, uses pwt_outer_dist=40; passes when the out-of-range encounter remains at CPA index 50 before timeout with zero collisions and closest range above 10 meters.
pwt_outer_dist_high_pass
On the same geometry, raises pwt_outer_dist to 45 so the contact enters the COLREGS relevance gate; passes when stand-on stern index 30 appears before timeout with zero collisions and closest range above 10 meters.
pwt_inner_dist_low_pass
On crossing_port_standon_southwest_outer_above_pass, sets pwt_inner_dist=10; passes when index 30 appears by 30 meters of contact range, priority weight is 45 through 60, and the mission has zero collisions, no timeout, and closest range above 10 meters.
pwt_inner_dist_default_pass
On the same geometry, uses pwt_inner_dist=20; passes when index 30 appears by 30 meters, priority weight is 70 through 90, and the mission has zero collisions, no timeout, and closest range above 10 meters.
pwt_inner_dist_high_pass
On the same geometry, sets pwt_inner_dist=30; passes when index 30 appears by 30 meters, priority weight is 145 through 150.1, and the mission has zero collisions, no timeout, and closest range above 10 meters.
pwt_grade_linear_pass
On crossing_port_standon_southwest_outer_above_pass, uses pwt_grade=linear; passes when index 30 appears by 35 meters, priority weight is 35 through 55, and the mission has zero collisions, no timeout, and closest range above 10 meters.
pwt_grade_quasi_pass
On the same geometry, sets pwt_grade=quasi; passes when index 30 appears by 35 meters, priority weight is 18 through 36, and the mission has zero collisions, no timeout, and closest range above 10 meters.
pwt_grade_quadratic_pass
On the same geometry, sets pwt_grade=quadratic; the current evaluator passes when index 30 appears at 30 through 33 meters with priority weight 15 through 30, zero collisions, no timeout, and closest range above 10 meters.
pts_port_turns_ok_true_pass
On giveway_turngap_edge_pass, leaves pts_port_turns_ok=true so the generated give-way maneuver may pass to port; passes when index 20 appears by 20 meters, Claire is port and fore of Ben without crossing tracks, and there are zero collisions, near misses, or timeouts with closest range above 10 meters.
pts_port_turns_ok_false_pass
On the same geometry, sets pts_port_turns_ok=false to reject the port-turn solution; passes when index 20 appears by 20 meters, Claire is not port but remains fore of Ben without crossing tracks, and there are zero collisions, near misses, or timeouts with closest range above 10 meters.
turn_radius_default_pass
On giveway_turngap_edge_pass, uses the stock turn radius; passes when the encounter remains give-way at index 20 before timeout with zero collisions and closest range above 10 meters.
turn_radius_high_pass
On the same geometry, sets turn_radius=8 so the turn-gap check rejects the give-way branch; passes when index 22 appears before timeout with zero collisions and closest range above 10 meters.
check_plateaus_false_pass
On head_on_cpa_fallback_pass, enables the refinery but sets check_plateaus=false; passes at CPA index 50 when REFINERY_PLATEAU_OK_BEN=false, REFINERY_BASIN_OK_BEN=false, and REFINERY_LOGIC_BEN=none, with zero collisions, no timeout, and closest range above 10 meters.
check_plateaus_true_pass
On the same geometry, enables both the refinery and plateau checking; passes at CPA index 50 when plateau is false, basin is true, and refinery logic is aft, with zero collisions, no timeout, and closest range above 10 meters.
completed_dist_default_pass
On head_on_cpa_fallback_pass, uses completed_dist=45; at the shared 50-second evaluation checkpoint, passes when the behavior is complete, the checkpoint is true, timeout is false, collisions are zero, and closest range is above 10 meters.
completed_dist_high_pass
On the same geometry, raises completed_dist to 80; at the same checkpoint, passes when the behavior remains none, the checkpoint is true, timeout is false, collisions are zero, and closest range is above 10 meters.
refinery_off_pass
On the same geometry, sets use_refinery=false; passes at CPA index 50 when plateau and basin are false and refinery logic is none, with zero collisions, no timeout, and closest range above 10 meters.