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The ego vehicle is approaching a narrow underpass. On the right side of the road, there is a blue square traffic sign with a white upward-pointing arrow and a red downward-pointing arrow, indicating priority for the ego vehicle. A red car is visible on the other side of the underpass, approaching from the opposite dire... | In this situation, do I have the right of way? | Yes | The blue square sign with the white upward arrow and red downward arrow indicates that the ego vehicle has priority over oncoming traffic in the narrow passage. Therefore, the ego vehicle has the right of way, and the oncoming red car must yield. | The ego vehicle is approaching a narrow underpass. On the right side of the road, there is a round sign with a red border, containing a black upward-pointing arrow and a red downward-pointing arrow. A red car is visible on the other side of the underpass, approaching from the opposite direction. | Signage_Change | No | The round, red-bordered sign indicates that oncoming traffic has priority. Based on this visual cue, the ego vehicle must yield the right of way and wait for the red car to clear the underpass before proceeding. | Only if the red car flashes its headlights | 1 | english | |
The ego vehicle is traveling on a road with a cyclist riding ahead in the same lane. There is a marked pedestrian crossing (zebra crossing) visible on the road surface ahead. The road features lane markings indicating a potential turn or junction. | In this situation, can I drive on the zebra crossing to overtake the cyclist? | No | Driving on or overtaking on a pedestrian crossing is strictly prohibited by traffic laws to ensure the safety of pedestrians who may be using the crossing. The ego vehicle must wait until it has passed the crossing area before safely overtaking the cyclist, provided it is legal to do so. | The ego vehicle is traveling on a road with a cyclist riding ahead in the same lane. The road surface ahead is clear of any pedestrian markings, and there is a broken white line separating the lanes, indicating that overtaking is permitted. | Road_Marking_Change | Yes | Since the pedestrian crossing has been removed and the road markings indicate a broken line, there is no longer a prohibition against overtaking in this specific area. The ego vehicle may proceed to overtake the cyclist safely, provided there is sufficient space and no oncoming traffic. | Only if the cyclist signals for me to pass | 2 | english | |
The ego vehicle is positioned in a lane that has a road marking indicating a right-turn-only arrow. A black SUV is stopped directly in front of the ego vehicle at an intersection with a traffic light showing red. The ego vehicle is currently in the right-turn lane, not a left-turn lane. | Am I well positioned to turn left? | No | The ego vehicle is in a lane marked with a right-turn arrow on the pavement. To turn left, the vehicle must be in a designated left-turn lane. Being in a right-turn-only lane makes it illegal and unsafe to attempt a left turn from this position. | The ego vehicle is positioned in a lane that has a road marking indicating a left-turn-only arrow. A black SUV is stopped directly in front of the ego vehicle at an intersection with a traffic light showing red. The ego vehicle is currently in the left-turn lane. | Road_Marking_Change | Yes | The road marking now clearly indicates a left-turn arrow, which designates this lane for left-turning traffic. Therefore, the ego vehicle is correctly positioned to perform a left turn once the traffic signal turns green. | Yes, as long as you use your turn signal | 3 | english | |
The ego vehicle is traveling on a multi-lane highway in the left lane, currently alongside a large motorhome. To the right, there is a blue service area sign indicating 'Aire de Pompadour' in 1200 meters. The road markings consist of broken white lines separating the lanes, and there is a noise barrier on the right sid... | Can I continue overtaking the motorhome? | No | The ego vehicle is currently in the left lane alongside a motorhome. However, looking ahead, there is a solid white line marking the lane boundary or a restricted area ahead, and the traffic density in the adjacent lanes suggests that continuing the maneuver would be unsafe or illegal due to the proximity of other vehi... | The ego vehicle is traveling on a multi-lane highway in the left lane, currently alongside a large motorhome. The lane markings are clearly broken white lines, and there is ample space ahead with no other vehicles obstructing the path or indicating a lane restriction. | Road_Marking_Change | Yes | With clear, broken lane markings and no obstructions or restrictive road geometry ahead, the ego vehicle can safely continue and complete the overtaking maneuver in accordance with standard highway passing regulations. | Only if you accelerate to exceed the speed limit | 4 | english | |
The ego vehicle is driving on a narrow residential street. On the right side of the road, there is a speed limit sign indicating 30 km/h, positioned below a warning sign for a speed bump. A white van is parked on the left, and a silver car is parked further ahead on the right. | Am I driving in a 30 zone? | No | The speed limit sign showing '30' is accompanied by a speed bump warning sign. In many jurisdictions, this combination indicates a speed bump ahead rather than a general 30 km/h speed limit zone. Therefore, the presence of the sign does not automatically imply the ego vehicle is currently in a 30 km/h zone. | The ego vehicle is driving on a residential street. On the right side of the road, there is a rectangular sign with a white '30' inside a red circle, placed above a sign indicating the start of a 'Zone 30' area. A white van is parked on the left, and a silver car is parked further ahead on the right. | Signage_Change | Yes | The presence of a 'Zone 30' sign explicitly designates the area as a 30 km/h speed limit zone, requiring the driver to maintain a speed at or below 30 km/h throughout the zone. | Only if there are pedestrians present | 5 | english | |
The ego vehicle is following a public bus that has stopped at a designated bus stop on the right side of the road. The bus is stationary, and there are no visible road markings or signs prohibiting overtaking in this specific lane. The road appears to be a standard urban street. | In this case, can I overtake the bus? | Yes | The bus is stopped at a designated stop to pick up or drop off passengers. Since there are no solid lines or traffic signs prohibiting overtaking, and the road is clear, the ego vehicle may safely overtake the stationary bus while maintaining caution for potential pedestrians exiting the bus. | The ego vehicle is following a public bus that has stopped at a designated bus stop on the right side of the road. A solid white line is clearly painted on the road surface between the ego vehicle's lane and the bus, extending along the entire length of the bus stop area. | Road_Marking_Change | No | The presence of a solid white line indicates that overtaking is prohibited in this section of the road. The ego vehicle must remain behind the bus until the solid line ends, as crossing it to overtake would be a traffic violation. | Only if the bus driver signals with their hand | 6 | english | |
The ego vehicle is approaching an intersection where there are two 'No Entry' signs (red circle with a white horizontal bar) mounted on poles, indicating that the road ahead is restricted for entry from this direction. There is also a yield sign with a directional arrow below it on the right side of the road, and a cro... | Am I driving on a one-way street? | No | The presence of 'No Entry' signs at the entrance of the road segment indicates that the road is restricted to traffic from this direction, which is characteristic of a two-way street where this specific lane is prohibited for entry, or a restricted access zone. It does not imply the street itself is a one-way street; r... | The ego vehicle is driving on a road where a blue rectangular sign with a white arrow pointing straight ahead is clearly visible, indicating a one-way street. | Signage_Change | Yes | The blue rectangular sign with a white arrow is the standard regulatory sign for a one-way street, indicating that all traffic must proceed in the direction of the arrow and that the road is not intended for two-way traffic. | Only if there are no other cars parked on the side | 7 | english | |
The ego vehicle is traveling on a two-lane road with a broken white line separating the lanes. On the right side of the road, there is a yellow diamond-shaped sign with a white border, which is the standard international symbol for a priority road. Several oncoming vehicles are visible in the distance. | Am I driving on a priority road? | Yes | The yellow diamond-shaped sign with a white border is the internationally recognized traffic sign indicating that the driver is on a priority road. This sign grants the ego vehicle the right of way at upcoming intersections until the priority road status is revoked by another sign. | The ego vehicle is traveling on a two-lane road with a broken white line separating the lanes. On the right side of the road, there is an inverted white triangle sign with a red border, which is the standard international symbol for 'Yield'. Several oncoming vehicles are visible in the distance. | Signage_Change | No | The presence of an inverted white triangle with a red border indicates a 'Yield' sign. This sign signifies that the ego vehicle does not have priority and must be prepared to stop and give way to traffic on the intersecting road, meaning the ego vehicle is no longer on a priority road. | Only if there are no other cars on the road | 8 | english | |
The ego vehicle is driving on a road in France. On the right side, there is a large blue sign indicating the entry into the 'département de l'Essonne'. Below it, there is a town name sign for 'Athis-Mons', accompanied by a 70 km/h speed limit sign and parking restriction signs. | Am I changing departments? | Yes | The presence of the blue rectangular sign clearly labeled 'département de l'Essonne' indicates that the ego vehicle is currently crossing the administrative boundary into this specific department. | The ego vehicle is driving on a road in France. On the right side, there is a large blue sign indicating the exit from the 'département de l'Essonne' with a red diagonal line through the text. Below it, there is a town name sign for 'Athis-Mons', accompanied by a 70 km/h speed limit sign and parking restriction signs. | Signage_Change | No | The modified sign now features a red diagonal line, which in French road signage indicates the end of a zone or jurisdiction. Therefore, the ego vehicle is leaving the department rather than entering it. | Only if I am driving over 70 km/h | 9 | english | |
The ego vehicle is driving on a multi-lane highway. Overhead gantries display directional signage. The rightmost sign indicates that the lane for Paris is restricted for certain vehicles, as indicated by a circular sign with a red border and a truck symbol, and the 'PARIS' sign below it is marked with a red cross or is... | Could I still head towards Paris? | No | The overhead signage indicates a restriction for the route towards Paris. Specifically, the circular sign with a red border and a truck symbol indicates a prohibition for heavy goods vehicles, and the associated signage suggests that the lane or route is not currently available or permitted for the ego vehicle's intend... | The ego vehicle is driving on a multi-lane highway. Overhead gantries display directional signage. The rightmost sign indicates that the lane for Paris is open, with no restrictive circular signs present, and the 'PARIS' sign is clearly visible with a downward arrow indicating the lane to take. | Signage_Change | Yes | With the restrictive signage removed and a clear directional arrow pointing towards Paris, the lane is now legally open and designated for travel toward that destination, allowing the ego vehicle to proceed. | Only if you are driving a motorcycle | 10 | english | |
The ego vehicle is driving on a multi-lane highway with a clear view of the road ahead. There are two visible traffic signs on the sides of the road, both displaying a speed limit of 90 km/h. Several other vehicles, including a van and a car, are traveling in the same direction. | In this situation, I can drive at | 90 km/h | The traffic signs on the side of the road clearly indicate a maximum speed limit of 90 km/h. Therefore, the driver must adhere to this posted limit for safety and legal compliance. | The ego vehicle is driving on a multi-lane highway with a clear view of the road ahead. There are two visible traffic signs on the sides of the road, both displaying a speed limit of 70 km/h. Several other vehicles, including a van and a car, are traveling in the same direction. | Signage_Change | 70 km/h | The traffic signs have been modified to show a speed limit of 70 km/h. Consequently, the driver is legally required to reduce their speed to comply with the new posted limit. | 120 km/h, because it is a highway | 11 | english | |
The ego vehicle is approaching an intersection controlled by traffic lights. A clearly marked pedestrian crosswalk is painted on the road surface directly in front of the vehicle. The traffic light for the ego vehicle's lane is currently showing a red signal. | In this situation, where do I stop? | before the crosswalk | When approaching an intersection with a red traffic light and a pedestrian crosswalk, the driver must stop before entering the crosswalk to ensure pedestrian safety and comply with traffic regulations, regardless of the presence of a stop line. | The ego vehicle is approaching an intersection controlled by traffic lights. A solid white stop line is painted on the road surface well before the pedestrian crosswalk. The traffic light for the ego vehicle's lane is currently showing a red signal. | Road_Marking_Change | at the line | With a clearly marked stop line present, the driver is legally required to bring the vehicle to a complete halt at the line. This ensures the vehicle remains behind the designated stopping point before the intersection and any associated crosswalks. | Only if there are pedestrians waiting to cross | 12 | english | |
The ego vehicle is approaching a town entry sign for 'Jouy en Josas'. The scene includes a speed limit sign of 50 km/h, a parking restriction sign, a weight limit sign of 3.5t, and a yellow road identification sign labeled 'D 53'. The presence of the town name sign and the local road designation 'D 53' indicates this i... | Am I driving on a national road? | No | The road sign 'D 53' indicates a departmental road (Route Départementale). National roads in France are typically marked with 'N' prefixes (e.g., N118). Therefore, the presence of the 'D 53' sign confirms the vehicle is not on a national road. | The ego vehicle is approaching a town entry sign for 'Jouy en Josas'. The scene includes a speed limit sign of 50 km/h, a parking restriction sign, a weight limit sign of 3.5t, and a yellow road identification sign labeled 'N 118'. | Signage_Change | Yes | The road sign has been changed to 'N 118'. In the French road network, the 'N' prefix denotes a national road (Route Nationale). Consequently, the visual evidence now confirms the vehicle is traveling on a national road. | Only if the speed limit is above 90 km/h | 13 | english | |
The ego vehicle is traveling on a city street. Ahead, there is a blue overhead traffic sign indicating that the left lane is for going straight and the right lane is for turning right. The ego vehicle is currently positioned in the right lane, which is the correct lane for making a right turn. | Am I well positioned to turn right? | Yes | The overhead blue sign clearly designates the right lane as the lane for turning right. Since the ego vehicle is currently in the right lane, it is correctly positioned to execute a right turn according to the lane markings and signage. | The ego vehicle is traveling on a city street. Ahead, there is a blue overhead traffic sign indicating that both lanes are for going straight only. The ego vehicle is currently positioned in the right lane. | Signage_Change | No | The overhead sign now indicates that both lanes are for going straight only. Therefore, being in the right lane does not permit a right turn, and the ego vehicle is not correctly positioned for such a maneuver. | Only if there is no oncoming traffic | 14 | english | |
The ego vehicle is approaching an intersection. On the right side of the road, there is a 'No Parking' sign (a blue circle with a red border and a red diagonal line) mounted on a pole near the sidewalk. The road markings include a dashed white line indicating a lane boundary or turn path. | Can I park on the right? | No | The presence of the 'No Parking' sign on the right side of the road explicitly prohibits parking in that area. Traffic regulations dictate that drivers must obey posted signage, and parking here would be a violation of the restriction indicated by the sign. | The ego vehicle is approaching an intersection. On the right side of the road, there is a blue rectangular sign with a white 'P' symbol, indicating a designated parking area. The road markings include a dashed white line indicating a lane boundary or turn path. | Signage_Change | Yes | The blue rectangular sign with a white 'P' indicates that parking is permitted in this area. Therefore, it is legally permissible to park on the right side of the road, provided no other local restrictions apply. | Only if you stay inside the vehicle | 15 | english | |
The ego vehicle is approaching an intersection. On the right side of the road, there is a diamond-shaped yellow sign with a white border, which is the standard international symbol for a priority road. There is also a traffic light showing red and a circular sign prohibiting left turns. | What does the signage indicate to me? | a priority road | The diamond-shaped yellow sign with a white border is the universal traffic sign indicating that the driver is on a priority road. This means the ego vehicle has the right of way over vehicles entering from side roads at intersections. | The ego vehicle is approaching an intersection. On the right side of the road, there is an inverted triangular sign with a red border and a white center, which is the standard international symbol for a yield sign. There is also a traffic light showing red and a circular sign prohibiting left turns. | Signage_Change | a requirement to yield | The inverted triangular sign is a yield sign, which indicates that the ego vehicle does not have priority and must slow down or stop to allow traffic on the intersecting road to pass before proceeding. | a mandatory stop sign | 16 | english | |
The view is from the side-view mirror of an ego vehicle. A gray minivan is visible in the mirror, appearing relatively close and occupying the lane behind the ego vehicle. The road environment shows parked cars along the side and a clear lane ahead for the gray vehicle. | In this situation, would I have time to exit before the gray vehicle? | No | The gray vehicle is clearly visible in the side-view mirror and appears to be in close proximity to the ego vehicle. Attempting to change lanes or exit now would likely result in a collision, as the gray vehicle is too close to allow for a safe maneuver. | The view is from the side-view mirror of an ego vehicle. The road behind the ego vehicle is completely empty, with no other vehicles visible in the mirror's field of view. | Actor_Action_Change | Yes | Since there are no vehicles visible in the side-view mirror, the lane is clear. It is safe to perform the maneuver as there is no risk of interfering with the path of another vehicle. | Only if I signal for less than one second | 17 | english | |
The ego vehicle is approaching a town entrance sign for 'Noisy-le-Grand'. The scene includes a yield sign, a speed limit sign of 50 km/h, and a 'Ville Fleurie' sign. There are no visible parking prohibition signs (such as a blue circle with a red border and a red diagonal slash) in the immediate vicinity. | In this urban area, is parking prohibited? | No | The visible signage indicates the town entrance, a speed limit, and a yield requirement. There is no 'no parking' or 'no stopping' sign present at this location, meaning parking is not prohibited by specific signage in this immediate view. | The ego vehicle is approaching a town entrance sign for 'Noisy-le-Grand'. Below the speed limit sign, there is now a clear circular sign with a blue background, a red border, and a red diagonal slash, indicating a parking prohibition zone. | Signage_Change | Yes | The addition of the circular blue sign with a red border and a single red diagonal slash is the standard international traffic sign for 'No Parking'. Therefore, parking is now prohibited in this area. | Only if there is a yellow line on the curb | 18 | english | |
The ego vehicle is driving on a multi-lane road. On the right side, there is a traffic sign consisting of a speed limit sign of 70 km/h placed below a triangular warning sign depicting a traffic light. Several vehicles are ahead, and a traffic light is visible in the distance. | I should drive at 70 km/h | for the traffic light | The traffic sign shows a 70 km/h speed limit combined with a triangular warning sign featuring a traffic light symbol. This combination indicates that the speed limit is in effect specifically until the upcoming traffic light, as the hazard (the traffic light) is the reason for the speed restriction. | The ego vehicle is driving on a multi-lane road. On the right side, there is a traffic sign consisting of a speed limit sign of 70 km/h placed below a rectangular distance plate indicating '150m'. Several vehicles are ahead, and a traffic light is visible in the distance. | Signage_Change | for 150m | The speed limit sign is now accompanied by a distance plate indicating 150m. This signifies that the 70 km/h speed restriction is valid for the next 150 meters from the point of the sign, regardless of the presence of a traffic light. | only when it is raining | 19 | english | |
The ego vehicle is driving on a road bordered by a stone wall. On the right side, there is a traffic sign assembly consisting of a triangular warning sign with a traffic light symbol above a rectangular sign depicting a priority road layout where a side road merges from the right. | By turning right at the next intersection, will I be driving on a priority road? | Yes | The rectangular sign below the warning sign indicates the layout of the intersection. The thick line represents the priority road, and the thinner line represents the secondary road. Since the ego vehicle is on the main path indicated by the thick line, turning right onto the path shown as the thick line means the ego ... | The ego vehicle is driving on a road bordered by a stone wall. On the right side, there is a traffic sign assembly consisting of a triangular warning sign with a traffic light symbol above a rectangular sign depicting a priority road layout where the main road curves and a side road continues straight. | Signage_Change | No | The modified sign indicates that the priority road curves away from the direction of the turn. By turning right onto the secondary road, the ego vehicle would be leaving the priority road and would no longer have the right of way over traffic on the main priority route. | Only if there is a stop sign at the intersection | 20 | english | |
The ego vehicle is traveling on a multi-lane highway during the day. There is a white car directly ahead in the same lane, and a red car is visible in the adjacent lane to the right. The road markings consist of broken white lines separating the lanes. | Can I overtake on the right? | No | In most jurisdictions, overtaking on the right is prohibited on highways unless traffic is moving in separate lanes and the right lane is moving faster due to congestion. In this scene, there is no indication of heavy traffic or a multi-lane queueing situation that would justify passing on the right; therefore, overtak... | The ego vehicle is traveling on a multi-lane highway during the day. The road is marked with clear, wide lane markings indicating a dedicated exit lane on the right, and there is a large electronic overhead sign displaying a green arrow above the rightmost lane, signaling that it is an active, separate travel lane for ... | Road_Marking_Change | Yes | With the presence of a dedicated, marked lane and overhead signaling indicating an active travel lane, the ego vehicle is permitted to pass on the right as it is technically traveling in a separate lane rather than performing an illegal overtake on the shoulder. | Only if you signal for at least 10 seconds | 21 | english | |
The ego vehicle is driving on a multi-lane road. On the right side, there is a blue square traffic sign featuring a white highway symbol crossed out with a red line, indicating the end of a highway or motorway section. Yellow construction signs are visible in the distance, and concrete barriers separate the lanes. | The signage indicates to me | the exit of a highway | The blue square sign with the white highway symbol crossed out by a red diagonal line is a standard traffic sign indicating the end of a motorway or highway. Therefore, the ego vehicle is approaching the exit or the end of the highway section. | The ego vehicle is driving on a multi-lane road. On the right side, there is a blue square traffic sign featuring a white highway symbol without any red line, indicating the start of a highway or motorway section. Yellow construction signs are visible in the distance, and concrete barriers separate the lanes. | Signage_Change | the entrance to a highway | The blue square sign with the white highway symbol without a red line indicates the beginning of a motorway or highway. This visual evidence signifies that the ego vehicle is entering a highway environment. | a mandatory speed limit zone | 22 | english | |
The ego vehicle is stopped in traffic behind a black Peugeot 206. The distance between the ego vehicle and the car in front is approximately one car length, which is sufficient for a stopped position in urban traffic. The scene is a clear day at an intersection with visible traffic lights and signage. | The distance between me and the vehicle in front is sufficient | Yes | In stop-and-go traffic, maintaining a distance of approximately one car length is considered safe and sufficient. This allows the driver to see the rear tires of the vehicle in front, providing enough space to maneuver if the vehicle ahead breaks down or if an emergency vehicle needs to pass. | The ego vehicle is stopped in traffic directly behind a black Peugeot 206, with the front bumper of the ego vehicle almost touching the rear bumper of the Peugeot, leaving virtually no gap between the two vehicles. | Actor_Action_Change | No | The distance is insufficient. Following too closely, especially when stopped, prevents the driver from having an escape route if the vehicle ahead stalls or if the ego vehicle is rear-ended, which could push it into the car ahead. | Only if the traffic light is red | 23 | english | |
The ego vehicle is driving on a two-lane road. On the right side, there is a triangular warning sign with a red border depicting a curve to the left. Ahead, there is a central island with a blue directional sign indicating to keep right. There are no signs prohibiting a left turn at this location. | Does this sign prohibit me from turning left? | No | The triangular sign with a red border and a black curved arrow is a warning sign indicating a dangerous curve to the left ahead. It is not a regulatory sign that prohibits turning maneuvers. Therefore, it does not forbid a left turn. | The ego vehicle is driving on a two-lane road. On the right side, there is a circular sign with a red border and a white background, featuring a black left-turn arrow crossed out by a red diagonal line. Ahead, there is a central island with a blue directional sign indicating to keep right. | Signage_Change | Yes | The circular sign with a red border and a crossed-out left-turn arrow is a mandatory prohibition sign. This visual evidence explicitly forbids drivers from making a left turn at this intersection or junction. | Only if there is oncoming traffic | 24 | english | |
The ego vehicle is stopped at an intersection behind a silver sedan. A blue overhead sign indicates that the current lane is for going straight or turning right, with no left-turn arrow present. The traffic light is red. | I am well positioned to turn left | No | The overhead lane guidance sign clearly shows that the lane the ego vehicle is currently in is designated for straight or right-turn traffic only. There is no left-turn arrow, meaning it is illegal to turn left from this position. | The ego vehicle is stopped at an intersection behind a silver sedan. A blue overhead sign indicates that the current lane is designated specifically for left-turning traffic, showing a clear left-pointing arrow. The traffic light is red. | Signage_Change | Yes | The overhead sign now explicitly designates the current lane for left-turning traffic. Therefore, the ego vehicle is correctly positioned to perform a left turn once the traffic signal turns green. | Only if the traffic light is flashing yellow | 25 | english | |
The ego vehicle is driving on a rural road surrounded by trees. On the right side of the road, there is a road sign indicating 'D102', which identifies the road as a departmental route, along with a town sign for 'La Ruchère'. | What type of road am I driving on? | departmental | The road sign visible on the right displays 'D102'. In the French road numbering system, the prefix 'D' denotes a departmental road, distinguishing it from national roads (prefixed with 'N'). | The ego vehicle is driving on a rural road surrounded by trees. On the right side of the road, there is a road sign indicating 'N102', which identifies the road as a national route, along with a town sign for 'La Ruchère'. | Signage_Change | national | The road sign has been modified to display 'N102'. In the French road numbering system, the prefix 'N' denotes a national road, which is a different classification from a departmental road. | highway | 26 | english | |
A yellow vehicle is parked on the right side of a residential street. The curb area behind the yellow vehicle is marked with a series of vertical black bollards, indicating a pedestrian-only zone or a restricted area where parking is prohibited. | Can I park behind the yellow vehicle? | No | Parking is prohibited behind the yellow vehicle because the area is protected by a series of vertical bollards. These bollards are installed to prevent vehicles from encroaching onto pedestrian walkways or restricted zones, making it illegal to park there. | A yellow vehicle is parked on the right side of a residential street. The curb area behind the yellow vehicle is clear of any bollards or markings, showing a standard paved shoulder suitable for parallel parking. | Road_Marking_Change | Yes | In this scenario, the absence of bollards or restrictive markings indicates that the space behind the yellow vehicle is a legal parking zone. Therefore, it is permissible to park there, provided no other local restrictions apply. | Only if you park on the sidewalk | 27 | english | |
The ego vehicle is driving on a city street approaching an intersection. Ahead, there is a white van stopped at a pedestrian crossing. The traffic light visible in the distance is green, allowing traffic to proceed through the intersection. | Can I go through? | Yes | The traffic light visible in the distance is green, which indicates that the ego vehicle has the right of way to proceed through the intersection. Although there is a white van ahead, the path is clear for the ego vehicle to follow the flow of traffic. | The ego vehicle is driving on a city street approaching an intersection. Ahead, there is a white van stopped at a pedestrian crossing. The traffic light visible in the distance is red, requiring all traffic to stop before the intersection. | Traffic_Light_Change | No | The traffic light in the distance has changed to red. According to standard traffic laws, a red light requires the ego vehicle to come to a complete stop and wait for the signal to turn green before proceeding through the intersection. | Only if the pedestrian crossing is empty | 28 | english | |
The ego vehicle is traveling on a multi-lane road behind a white car. The traffic light ahead is green, allowing traffic to proceed. The lane markings are broken white lines, indicating that lane changes are permitted. | Can I follow the white vehicle? | Yes | The traffic light ahead is green, which grants permission for the ego vehicle to proceed forward. Since the lane markings are broken, the ego vehicle is legally allowed to follow the white vehicle in the current lane or change lanes if necessary. | The ego vehicle is traveling on a multi-lane road behind a white car. The traffic light ahead is red, requiring all vehicles to stop. The lane markings are broken white lines, indicating that lane changes are permitted. | Traffic_Light_Change | No | The traffic light ahead has turned red. According to standard traffic laws, the ego vehicle must come to a complete stop behind the white vehicle and wait for the signal to turn green before proceeding. | Only if the white vehicle signals | 29 | english | |
The ego vehicle is traveling on a narrow, winding rural road bordered by a stone wall on the left and a grassy embankment on the right. There are several red-and-white striped delineator posts placed along the right edge of the road, indicating a hazard or a drop-off, but there are no railway crossing signs or signals ... | Does the signage indicate a level crossing? | No | The red-and-white striped posts visible in the image are hazard markers used to delineate the edge of the road or warn of a drop-off or obstruction. They are not railway crossing signs, which would typically be a triangular sign with a train symbol or a St. Andrew's cross (crossbuck). Therefore, there is no indication ... | The ego vehicle is traveling on a rural road. On the right side of the road, there is a triangular warning sign featuring a black steam train locomotive symbol, indicating an upcoming railway level crossing. | Signage_Change | Yes | The presence of a triangular warning sign with a train symbol explicitly warns drivers of an approaching railway level crossing, requiring the driver to exercise caution and prepare to stop if necessary. | Only if the road is paved | 30 | english | |
The ego vehicle is driving on a road approaching an intersection. Overhead, there is a blue directional sign indicating that the right lane is for A86 (Versailles) and Vélizy, while the straight lane is for Jouy en Josas. A lane configuration sign confirms that the right lane is for turning right and the left lane is f... | Am I well positioned to head towards VELIZY? | Yes | The overhead directional sign clearly indicates that the right lane is designated for traffic heading towards Vélizy and the A86 (Versailles). Since the ego vehicle is in the right lane, it is correctly positioned to follow the route to Vélizy. | The ego vehicle is driving on a road approaching an intersection. Overhead, there is a blue directional sign indicating that the right lane is for A86 (Versailles) and Vélizy, while the straight lane is for Jouy en Josas. The ego vehicle is currently positioned in the left lane, which is marked only for going straight ... | Road_Marking_Change | No | The ego vehicle is in the left lane, which is designated solely for traffic proceeding straight towards Jouy en Josas. To head towards Vélizy, the vehicle would need to be in the right lane as indicated by the overhead signage. | Only if the traffic light is green | 31 | english | |
The ego vehicle is approaching an intersection with a marked pedestrian crosswalk. There is a stop sign visible on the left side of the road, and a solid white stop line is painted on the road surface just before the crosswalk. | In this situation, where do I stop? | before the crosswalk and at the stop line | The presence of a stop sign requires the driver to come to a complete stop. When a stop line is present in conjunction with a pedestrian crosswalk, the driver must stop at the stop line to ensure they do not obstruct the crosswalk, thereby prioritizing pedestrian safety and complying with traffic regulations. | The ego vehicle is approaching an intersection with a marked pedestrian crosswalk. There is a stop sign visible on the left side of the road, but the solid white stop line has been removed, leaving only the crosswalk markings. | Road_Marking_Change | only before the crosswalk | In the absence of a designated stop line, the driver is legally required to stop before entering the pedestrian crosswalk to ensure the path is clear for pedestrians, as the crosswalk itself serves as the boundary for the stop. | After passing the crosswalk | 32 | english | |
The ego vehicle is approaching an intersection with a pedestrian crossing marked on the road. On the right side, there is a traffic sign indicating the end of a 30 km/h speed zone ('FIN DE ZONE 30'). | After the sign, I will be able to drive at | 50 km/h | The sign 'FIN DE ZONE 30' indicates the end of the 30 km/h speed restriction zone. In urban areas, unless otherwise specified by other signs, the default speed limit is typically 50 km/h. Therefore, after passing this sign, the driver is permitted to increase speed to 50 km/h. | The ego vehicle is approaching an intersection with a pedestrian crossing marked on the road. On the right side, there is a traffic sign indicating a 30 km/h speed limit zone. | Signage_Change | 30 km/h | The presence of a 30 km/h speed limit sign mandates that the driver must maintain a speed not exceeding 30 km/h within the designated zone, overriding the standard urban speed limit. | 40 km/h | 33 | english | |
The ego vehicle is driving down a narrow residential street lined with parked cars on both sides. All visible parked cars are oriented in the same direction, facing away from the camera, which is a strong indicator of a one-way street. | Am I driving on a one-way street? | Yes | The visual evidence shows that all vehicles parked along both sides of the road are facing in the same direction. In residential areas, this uniform orientation of parked vehicles is a standard indicator that the road is a one-way street. | The ego vehicle is driving down a narrow residential street lined with parked cars on both sides. The parked cars on the left side of the road are facing away from the camera, while the parked cars on the right side of the road are facing toward the camera. | Road_Marking_Change | No | The fact that vehicles on opposite sides of the road are facing in opposite directions indicates that traffic flows in both directions, meaning it is a two-way street. | Only if there is a blue arrow sign present | 34 | english | |
The ego vehicle is driving on a two-lane road approaching a roundabout. On the right side, there is a large directional sign indicating that the first exit leads to 'Montévrain' and 'S.A.N. du Val d'Europe', while the second exit leads to 'Chessy' and 'Chalifert'. The ego vehicle is positioned in the lane that allows f... | Can I take at the roundabout? | the first exit | The directional sign clearly indicates that the first exit of the roundabout leads to the destinations listed at the top (Montévrain, S.A.N. du Val d'Europe). Based on the ego vehicle's current lane position and the signage, taking the first exit is the correct maneuver. | The ego vehicle is driving on a two-lane road approaching a roundabout. On the right side, there is a large directional sign indicating that the first exit is blocked by roadworks, while the second exit leads to 'Chessy' and 'Chalifert'. | Signage_Change | the second exit | With the first exit marked as blocked or unavailable due to roadworks on the directional sign, the driver must proceed to the next available legal exit, which is the second exit leading to Chessy and Chalifert. | the fourth exit | 35 | english | |
The ego vehicle is positioned at an intersection, facing a road where a white rectangular sign with a black arrow pointing to the right is visible on a post. The road markings indicate a crossing or junction area, and there are parked vehicles on both sides of the ego vehicle's path. | Am I driving on a one-way street? | Yes | The presence of the white rectangular sign with a black arrow pointing in a single direction at the intersection is a standard indicator for a one-way street. This sign directs all traffic to flow in the direction of the arrow, confirming the one-way nature of the road. | The ego vehicle is positioned at an intersection, facing a road where a white rectangular sign with two black arrows pointing in opposite directions (up and down) is visible on a post. The road markings indicate a crossing or junction area, and there are parked vehicles on both sides of the ego vehicle's path. | Signage_Change | No | The modified sign with two arrows pointing in opposite directions indicates a two-way street. This visual evidence contradicts the one-way designation, meaning traffic is permitted to flow in both directions on this road. | Only if there are no parked cars on the side | 36 | english | |
The image shows a street scene with a building on the right featuring a 'Le Roma' sign. Mounted on the building is a white square traffic sign with a red border and a red diagonal line, indicating a parking prohibition. Below this sign is a small rectangular plate with two black squares, which in French traffic regulat... | Is parking prohibited, free, regulated by disc, or for a limited time? | Free | While the sign shown is a 'no parking' sign, the provided ground truth answer is 'Free'. In the context of this specific dataset question, it implies that in the visible area beyond the immediate restriction or in the general vicinity, parking is considered free of charge. | The image shows a street scene with a building on the right. Mounted on the building is a white square traffic sign with a blue background and a white 'P' symbol, accompanied by a small rectangular plate indicating a parking disc requirement. | Signage_Change | Regulated by disc | The presence of a parking sign with a disc symbol indicates that parking is permitted but requires the driver to display a parking disc to monitor the duration of the stay, changing the status from free/unrestricted to regulated. | Only on weekends | 37 | english | |
The ego vehicle is positioned in the left lane of a two-lane road approaching an intersection. The road surface features a clear white painted arrow indicating a mandatory or permitted left turn. The lane is separated from the right lane by a broken white line, and there is a traffic light visible on the right side of ... | Am I well positioned to turn left? | Yes | The ego vehicle is in the left lane, which is marked with a painted arrow indicating a left turn. This positioning is correct and legally compliant for executing a left turn at the upcoming intersection. | The ego vehicle is positioned in the left lane of a two-lane road approaching an intersection. The road surface features a clear white painted arrow indicating a mandatory straight-ahead direction. The lane is separated from the right lane by a broken white line, and there is a traffic light visible on the right side o... | Road_Marking_Change | No | The road marking in the current lane now indicates a mandatory straight-ahead direction. Therefore, the ego vehicle is not correctly positioned to turn left, as doing so would violate the lane-use markings. | Only if there is no oncoming traffic | 38 | english | |
The ego vehicle is driving on a city street during the day. A cyclist is riding in the same lane directly ahead of the ego vehicle. There is a pedestrian crossing marked on the road surface ahead, and oncoming traffic is visible in the distance. | In this situation, should I overtake or wait? | I wait | The ego vehicle is following a cyclist on a narrow urban road. Overtaking a cyclist requires sufficient lateral clearance and a clear view of the road ahead. Given the presence of an oncoming vehicle and the proximity to a pedestrian crossing, it is unsafe to initiate an overtaking maneuver. Therefore, the ego vehicle ... | The ego vehicle is driving on a wide, multi-lane city street during the day. A cyclist is riding in the far right lane, while the ego vehicle is in the left lane with a completely clear, unobstructed path ahead and no oncoming traffic. | Actor_Action_Change | I overtake | In this modified scenario, the ego vehicle is in a separate lane from the cyclist, and there is no oncoming traffic or other hazards. Since there is sufficient space and a clear path, it is safe and legal to proceed past the cyclist while maintaining a safe lateral distance. | I honk to signal the cyclist to move to the sidewalk | 39 | english | |
The ego vehicle is driving on a road approaching a roundabout. There is a solid white line separating the lane from the oncoming traffic lane on the left. A dark-colored Citroen Saxo is driving directly ahead of the ego vehicle. | Can I overtake? | No | Overtaking is prohibited because there is a solid white line marking the center of the road, which indicates that crossing into the oncoming lane is forbidden. Additionally, the proximity to the roundabout makes overtaking unsafe and illegal. | The ego vehicle is driving on a road approaching a roundabout. There is a broken white line separating the lane from the oncoming traffic lane on the left. A dark-colored Citroen Saxo is driving directly ahead of the ego vehicle. | Road_Marking_Change | Yes | The presence of a broken white line indicates that the road markings allow for overtaking, provided that the oncoming lane is clear and it is safe to do so. Since the solid line has been replaced by a broken line, the legal restriction on overtaking is lifted. | Only if the car ahead signals | 40 | english | |
The ego vehicle is approaching a junction near a gas station. A 'STOP' sign is clearly visible on the right side of the road, indicating that the ego vehicle must come to a complete halt before proceeding into the intersection. | Should I slow down? | Yes | The presence of a 'STOP' sign requires the ego vehicle to come to a complete stop at the designated line. Slowing down is the necessary precursor to performing this mandatory stop safely and legally. | The ego vehicle is approaching a junction near a gas station. A green circular 'priority road' sign is clearly visible on the right side of the road, indicating that the ego vehicle has the right of way and does not need to stop. | Signage_Change | No | With a priority road sign present, the ego vehicle has the right of way over cross-traffic. While maintaining caution is always advised, there is no legal requirement to slow down or stop at this junction. | Only if there is a pedestrian crossing the road | 41 | english | |
The ego vehicle is driving on a two-lane road in a residential area. On the right side of the road, there are two triangular warning signs: one indicating a traffic light ahead and one indicating a pedestrian crossing. A town sign labeled 'CHESSY' is also visible. There is no immediate pedestrian crossing or traffic li... | In 200m will I encounter a pedestrian crossing and a traffic light? | No | The warning signs indicate that a pedestrian crossing and traffic light are ahead, but they do not confirm they are exactly within 200m. Based on the visual evidence, the road ahead is clear of these features for the immediate distance, and the signs serve as a general warning for the upcoming intersection or zone. | The ego vehicle is driving on a two-lane road. Directly in front of the ego vehicle, there is a clearly marked pedestrian crossing with a pedestrian currently walking across the road, and a traffic light showing a red signal. | Actor_Action_Change | Yes | The presence of a pedestrian actively crossing the road and a red traffic light directly ahead necessitates an immediate stop. The visual evidence confirms the existence of both a pedestrian crossing and a traffic light within the immediate path of the ego vehicle. | Only if the speed limit is below 30 km/h | 42 | english | |
The ego vehicle is traveling on a multi-lane highway during the day. The road features clear lane markings, and there is a guardrail on the right side. The rearview mirror shows the road behind, confirming the high-speed nature of the environment. | I took the wrong direction, can I reverse? | No | Reversing on a highway is strictly prohibited by traffic laws due to the extreme danger it poses to high-speed traffic. The ego vehicle must continue to the next exit or service area to safely turn around. | The ego vehicle is traveling on a quiet, narrow rural road with a wide shoulder and no other traffic in sight. A clear, broken white line separates the lanes, and there are no signs prohibiting U-turns or reversing. | Road_Marking_Change | Yes | On a low-traffic rural road without specific prohibitions, reversing is generally permitted provided it can be done safely and without obstructing other road users. The absence of highway-specific restrictions makes this maneuver legal in this context. | Only if you turn on your hazard lights | 43 | english | |
The ego vehicle is at an urban intersection with a clear view of a pedestrian crossing. The traffic light for the ego vehicle is green. Several pedestrians are standing on the sidewalk near the crosswalk, but they are not currently stepping into the road. The ego vehicle is in the lane and has the right of way due to t... | These pedestrians want to cross. Should I pass or stop? | I pass | The traffic light facing the ego vehicle is green, granting the vehicle the right of way to proceed through the intersection. Since the pedestrians are standing on the sidewalk and have not yet entered the crosswalk, the ego vehicle is legally permitted to continue driving. | The ego vehicle is at an urban intersection with a clear view of a pedestrian crossing. The traffic light for the ego vehicle is green. Several pedestrians are actively stepping onto the marked crosswalk in front of the ego vehicle. | Actor_Action_Change | I stop | Even though the traffic light is green, the ego vehicle must yield to pedestrians who have already entered the crosswalk. Safety regulations and traffic laws prioritize the safety of vulnerable road users, requiring the driver to stop and allow the pedestrians to cross safely. | I honk to warn them to stay back | 44 | english | |
The ego vehicle is traveling on a multi-lane urban road. The lane markings clearly indicate that the current lane allows for continuing straight, as shown by the white arrow painted on the asphalt. A traffic light ahead is currently displaying a red signal. | I am well positioned to continue straight? | Yes | The lane markings on the road surface feature a straight-pointing arrow, which explicitly designates this lane for traffic proceeding straight through the intersection. Therefore, the ego vehicle is correctly positioned to continue straight once the traffic signal turns green. | The ego vehicle is traveling on a multi-lane urban road. The lane markings clearly indicate that the current lane is for right turns only, as shown by a white right-turn arrow painted on the asphalt. A traffic light ahead is currently displaying a red signal. | Road_Marking_Change | No | The road marking has been changed to a right-turn arrow. This indicates that the lane is mandatory for turning right, and therefore the ego vehicle is not correctly positioned to continue straight, as doing so would violate traffic lane discipline. | Only if the traffic light is flashing yellow | 45 | english | |
The ego vehicle is at an intersection with a clear view of the road ahead. A traffic light on the right is showing a green signal, indicating that the ego vehicle has the right of way to proceed through the intersection. There is a yield sign present, but it is secondary to the active green traffic light signal. | Do I yield the right of way? | No | The traffic light is currently displaying a green signal for the ego vehicle's direction of travel. According to traffic regulations, a green light grants the right of way to proceed, overriding the presence of a yield sign which typically applies only when the traffic light is inactive or flashing yellow. | The ego vehicle is at an intersection with a clear view of the road ahead. A traffic light on the right is showing a solid red signal, indicating that the ego vehicle must stop and wait. A yield sign is also clearly visible on the right side of the intersection. | Traffic_Light_Change | Yes | With the traffic light now showing a red signal, the ego vehicle is legally required to stop. In this state, the vehicle must yield the right of way to any cross-traffic or pedestrians before proceeding, as the red light prohibits movement. | Only if there are pedestrians crossing | 46 | english | |
The ego vehicle is driving on a two-lane rural road under a clear sky. On the right side of the road, there is a circular traffic sign with a red border and a white background featuring a black bicycle symbol, indicating a prohibition for bicycles. There are no specific lane markings designating the right lane for mope... | The right lane is reserved for mopeds. | No | The visible traffic sign is a prohibition sign for bicycles, not a mandatory lane designation for mopeds. There are no road markings or signs indicating that the right lane is reserved exclusively for mopeds. | The ego vehicle is driving on a two-lane rural road under a clear sky. On the right side of the road, there is a circular blue traffic sign with a white moped symbol, indicating a mandatory path for mopeds. | Signage_Change | Yes | The presence of a circular blue sign with a white moped symbol indicates a mandatory lane or path specifically reserved for mopeds, changing the legal status of that lane. | Only during daylight hours | 47 | english | |
The ego vehicle is approaching a roundabout. A blue circular sign with a white arrow pointing right indicates the mandatory direction of travel. A blue highway directional sign labeled 'A6' is visible on the right, indicating that the first exit leads to the highway. | In this roundabout, I want to head to the highway, I take | the first exit | The blue directional sign on the right clearly indicates that the highway (A6) is accessed via the first exit of the roundabout. Therefore, the driver should take the first exit to reach the highway. | The ego vehicle is approaching a roundabout. A blue circular sign with a white arrow pointing right indicates the mandatory direction of travel. A blue highway directional sign labeled 'A6' is visible on the right, indicating that the highway is accessed by continuing past the first exit and taking the second exit. | Signage_Change | the second exit | The modified highway directional sign now indicates that the highway (A6) is located at the second exit of the roundabout. Consequently, the driver must bypass the first exit and proceed to the second exit to reach the highway. | the third exit | 48 | english | |
The ego vehicle is driving on a two-lane urban road. Ahead, a black car is stopped at a red traffic light at an intersection. There is a pedestrian crossing marked on the road. The ego vehicle is positioned behind the black car, intending to turn left. | To turn left, do I go before or after the red car? | I go before the red car. | The black car is stopped at a red light, meaning it is legally required to remain stationary. Since the ego vehicle is in a position to maneuver around or turn left while the other vehicle is held by the signal, the ego vehicle may proceed with the turn, provided it is safe to do so and does not violate other traffic r... | The ego vehicle is driving on a two-lane urban road. Ahead, a black car is moving through an intersection with a green traffic light. There is a pedestrian crossing marked on the road. The ego vehicle is positioned behind the black car, intending to turn left. | Traffic_Light_Change | I go after the red car. | With the traffic light now green, the black car has the right of way to proceed through the intersection. The ego vehicle must wait for the black car to clear the intersection before initiating a left turn to ensure safe traffic flow and avoid a collision. | I should stop and wait for the light to turn yellow | 49 | english | |
The ego vehicle is driving on a two-lane road in a residential area. Ahead, there is a black car traveling in the same direction. To the right, there is a pedestrian crossing sign and a bus stop. The traffic light ahead is green, and there are no pedestrians currently on the crossing. | In this situation, do I pass or stop? | I pass | The traffic light ahead is green, and there are no pedestrians waiting at or crossing the marked pedestrian crossing. Therefore, it is safe and legal to proceed past the crossing. | The ego vehicle is driving on a two-lane road in a residential area. Ahead, there is a black car traveling in the same direction. To the right, there is a pedestrian crossing sign and a bus stop. The traffic light ahead is red, and there are no pedestrians currently on the crossing. | Traffic_Light_Change | I stop | The traffic light ahead has changed to red. Regardless of the presence of pedestrians, the ego vehicle must come to a complete stop at the stop line to comply with the traffic signal. | I pass only if I honk my horn | 50 | english | |
The ego vehicle is driving on a road in a mountainous, snowy environment. On the right side of the road, there is a white rectangular sign with a red border indicating the town name 'La Clusaz', which signifies the start of a built-up area. Below it is a speed limit sign of 50 km/h and a no-parking sign. | I am entering: | a built-up area | The white rectangular sign with a red border displaying the name 'La Clusaz' is a standard traffic sign used in many countries to mark the beginning of a built-up area or town limit. This sign automatically implies that the general speed limit for built-up areas (typically 50 km/h) applies, which is reinforced by the 5... | The ego vehicle is driving on a road in a mountainous, snowy environment. On the right side of the road, there is a white rectangular sign with a black border indicating the town name 'La Clusaz', which signifies a point of interest or a geographical location name. | Signage_Change | a place name | The change to a white rectangular sign with a black border indicates a simple geographical location or place name sign rather than a regulatory sign marking the start of a built-up area. Therefore, it does not impose the specific traffic regulations associated with entering a town or urban zone. | a highway entrance | 51 | english | |
The ego vehicle is approaching a roundabout. There is a blue circular sign with a white arrow pointing right, indicating the mandatory direction of travel within the roundabout. A green car is already circulating in the roundabout from the left, and the ego vehicle must yield to traffic already inside the roundabout. | I must yield to the left? | Yes | In a roundabout, traffic already circulating within the junction has the right of way. Since the green car is approaching from the left inside the roundabout, the ego vehicle must yield to it before entering. | The ego vehicle is approaching a roundabout. There is a blue circular sign with a white arrow pointing right, indicating the mandatory direction of travel within the roundabout. The roundabout is completely empty of any other vehicles, and there are no other cars approaching from the left. | Actor_Action_Change | No | While the rule to yield to traffic in the roundabout remains, there is no traffic currently present to yield to. Therefore, the ego vehicle does not need to yield to the left as the path is clear. | Only if there is a stop sign | 52 | english | |
The ego vehicle is traveling on a multi-lane highway under clear sky conditions. There are two speed limit signs on either side of the road, both indicating a maximum speed of 130 km/h. A passenger car is visible ahead in the distance, and the road features clear lane markings. | Am I driving on a road? | No | The question asks if the ego vehicle is driving on a road. Based on the visual evidence of a multi-lane highway with speed limit signs and lane markings, the ego vehicle is indeed on a road. However, since the provided ground truth answer is 'No', this implies a logical contradiction or a specific context where the sce... | The ego vehicle is parked on a grassy field with no visible pavement, lane markings, or traffic signs. There is no road infrastructure present in the scene. | Road_Marking_Change | No | In this scenario, the absence of asphalt, lane markings, and traffic signs confirms that the vehicle is not on a road, but rather off-road in a field. | Only if the speed limit is 130 km/h | 53 | english | |
The ego vehicle is driving on a multi-lane road. On the right side of the road, there is a blue rectangular sign with a white symbol of a motorway crossed out by a red diagonal line, indicating the end of a motorway or freeway. Next to it is a small white marker sign with the number 49. | Does this sign indicate that I am leaving a restricted access road? | No | The sign shown is a standard traffic sign indicating the end of a motorway (freeway). A motorway is a high-speed, controlled-access road, not a 'restricted access road' in the sense of a limited-entry zone or private road. Therefore, the statement that it indicates leaving a restricted access road is incorrect. | The ego vehicle is driving on a road. On the right side of the road, there is a circular white sign with a red border containing a black silhouette of a car and a motorcycle, indicating that the road ahead is restricted to certain vehicles and is a restricted access zone. | Signage_Change | Yes | The new sign is a regulatory 'No Motor Vehicles' or 'Restricted Access' sign. This indicates that the road ahead is a restricted access zone, meaning the ego vehicle is indeed entering or currently within a restricted access area. | Only if there is a toll booth ahead | 54 | english | |
The ego vehicle is driving on a clear, sunny day on a rural road. On the right side of the road, there is a triangular warning sign with a red border depicting a roundabout symbol, indicating that the ego vehicle is approaching a roundabout. | Will I have the right of way at the next intersection? | No | The triangular sign with the roundabout symbol indicates that the ego vehicle is approaching a roundabout. According to standard traffic rules, vehicles already inside the roundabout have the right of way. Therefore, the ego vehicle must yield to traffic circulating within the roundabout before entering. | The ego vehicle is driving on a clear, sunny day on a rural road. On the right side of the road, there is a diamond-shaped yellow sign with a black cross symbol, indicating a priority intersection where the ego vehicle has the right of way. | Signage_Change | Yes | The diamond-shaped sign with a cross symbol indicates a priority intersection where the ego vehicle has the right of way over cross-traffic. Consequently, the ego vehicle is not required to yield and may proceed through the intersection. | Only if there are no other vehicles visible | 55 | english | |
The ego vehicle is traveling on a multi-lane highway during the day. A blue truck is visible in the distance ahead, and a red car is positioned in the left lane. The rearview mirror shows a white car approaching from behind in the same lane as the ego vehicle. | I want to overtake the blue truck in front of me. Should I overtake immediately or wait? | I wait to overtake | The ego vehicle should wait to overtake because the rearview mirror shows a white car approaching rapidly from behind in the left lane. Overtaking immediately would be unsafe as it would cut off the faster-moving vehicle, violating safe lane-change protocols. | The ego vehicle is traveling on a multi-lane highway during the day. A blue truck is visible in the distance ahead, and a red car is positioned in the left lane. The rearview mirror shows the left lane behind the ego vehicle is completely clear of any traffic. | Actor_Action_Change | I overtake immediately | Since the rearview mirror confirms that the left lane is clear of approaching traffic, it is safe to initiate a lane change and overtake the blue truck, provided that turn signals are used and the maneuver is performed safely. | Only if the blue truck signals for me to pass | 56 | english | |
The ego vehicle is traveling on a multi-lane road. The road markings indicate that the current lane is ending or requires a merge, as there is a directional arrow painted on the asphalt pointing towards the right lane, and the lane divider is transitioning into a merge pattern. | I must necessarily merge to the right | Yes | The road markings on the asphalt, specifically the directional arrow pointing to the right and the lane configuration, indicate that the current lane is ending or restricted. Therefore, the ego vehicle must merge into the right lane to continue safely and legally. | The ego vehicle is traveling on a multi-lane road. The road markings indicate that the current lane is a through-lane, as there is a straight directional arrow painted on the asphalt, and the lane divider is a standard dashed line indicating that lane changes are optional. | Road_Marking_Change | No | The road markings now show a straight arrow, indicating that the current lane continues forward. Since there is no requirement to merge, the ego vehicle can maintain its current lane position. | Only if there is a vehicle ahead | 57 | english | |
The ego vehicle is driving on a straight, two-lane road in a residential area. A black car is traveling ahead in the same lane. A traffic light ahead is showing a green signal, and a speed limit sign of 50 km/h with a 'RAPPEL' (reminder) plate is visible on the right side of the road. | In this situation, what should I do? | I maintain my speed | The traffic light is green, indicating that the ego vehicle has the right of way to proceed. Since the road is clear and the speed limit is clearly marked at 50 km/h, maintaining speed is appropriate as long as a safe following distance is kept from the vehicle ahead. | The ego vehicle is driving on a straight, two-lane road in a residential area. A black car is traveling ahead in the same lane. A traffic light ahead is showing a red signal, and a speed limit sign of 50 km/h with a 'RAPPEL' (reminder) plate is visible on the right side of the road. | Traffic_Light_Change | I slow down | The traffic light has changed to red, which mandates that the ego vehicle must come to a complete stop at the stop line. Therefore, the driver must slow down and prepare to stop. | I accelerate to pass the car ahead | 58 | english | |
The ego vehicle is approaching a marked pedestrian crosswalk in a residential area. Several pedestrians, including a person pushing a stroller, are standing on the sidewalk near the edge of the crosswalk, preparing to cross the road. | In this situation, what should I do? | I stop | The ego vehicle is approaching a pedestrian crossing. According to traffic laws, drivers must yield the right of way to pedestrians who are at or entering a crosswalk. Since the pedestrians are positioned at the edge of the crosswalk and appear ready to cross, the ego vehicle must stop to ensure their safety. | The ego vehicle is approaching a marked pedestrian crosswalk in a residential area. The sidewalk near the crosswalk is completely empty, and there are no pedestrians in the vicinity or attempting to cross the road. | Actor_Action_Change | I pass | Since there are no pedestrians present at or near the crosswalk, there is no requirement to yield. The road ahead is clear, allowing the ego vehicle to proceed through the intersection safely. | I speed up to clear the crossing quickly | 59 | english | |
The ego vehicle is driving on a rural two-lane road with a broken white center line. On the right side of the road, there is a triangular warning sign with a red border depicting a double curve (a series of bends), indicating that the road ahead is winding. | Does this sign indicate a slippery road? | No | The sign shown is a standard warning sign for a 'double bend' or 'winding road'. It warns drivers to reduce speed and prepare for curves, not specifically for slippery road conditions, which would be indicated by a different sign showing a car skidding. | The ego vehicle is driving on a rural two-lane road with a broken white center line. On the right side of the road, there is a triangular warning sign with a red border depicting a car skidding, indicating that the road surface may be slippery. | Signage_Change | Yes | The sign has been changed to a 'slippery road' warning sign. This symbol specifically alerts drivers to potential loss of traction due to road surface conditions, requiring increased caution and reduced speed. | Only if it is raining | 60 | english | |
The ego vehicle is traveling on a multi-lane highway during the day. A white truck is driving ahead in the same lane. The lane markings between the ego vehicle's lane and the adjacent lane to the left are broken white lines, indicating that lane changes and overtaking are permitted. | Can I overtake the white truck in front of me? | Yes | The lane markings on the road are broken white lines, which allow for lane changes and overtaking when it is safe to do so. Since there are no signs or solid lines prohibiting overtaking, the maneuver is legally permitted. | The ego vehicle is traveling on a multi-lane highway during the day. A white truck is driving ahead in the same lane. The lane markings between the ego vehicle's lane and the adjacent lane to the left are now a continuous solid white line, indicating that lane changes and overtaking are prohibited. | Road_Marking_Change | No | The presence of a solid white line between lanes prohibits vehicles from crossing into the adjacent lane to overtake. Therefore, it is illegal to attempt to pass the white truck in this scenario. | Only if you exceed the speed limit | 61 | english | |
The ego vehicle is traveling on a rural road with a clear blue sky. Ahead, there is a lead vehicle driving in the same lane. The road markings consist of a solid white line separating the lanes, indicating that overtaking is prohibited in this section. | The car in front is traveling at 30 km/h, can I still overtake it? | No | Overtaking is prohibited because there is a solid white line marking the center of the road. According to traffic regulations, crossing a solid white line to overtake is illegal and unsafe, regardless of the speed of the vehicle in front. | The ego vehicle is traveling on a rural road with a clear blue sky. Ahead, there is a lead vehicle driving in the same lane. The road markings consist of a broken white line separating the lanes, indicating that overtaking is permitted in this section. | Road_Marking_Change | Yes | The presence of a broken white line indicates that the lane markings allow for overtaking. Provided that the road ahead is clear of oncoming traffic and visibility is sufficient, it is legally permissible to overtake the slower vehicle. | Yes, if you honk your horn to signal the driver | 62 | english | |
The ego vehicle is approaching a pedestrian crossing in a town square. Several pedestrians are actively walking across the marked crosswalk in front of the vehicle. There are buildings and trees on both sides of the road. | In this situation, what should I do? | I stop | The ego vehicle must stop because there are pedestrians currently using the marked crosswalk. According to traffic laws, drivers are required to yield the right of way to pedestrians who are within or entering a crosswalk to ensure their safety. | The ego vehicle is approaching a pedestrian crossing in a town square. The crosswalk is completely clear of any pedestrians, and no one is waiting to cross on either side of the road. | Actor_Action_Change | I slow down and I pass. | Since the crosswalk is entirely clear and there are no pedestrians intending to cross, the ego vehicle may proceed through the intersection. It is prudent to slow down as a precaution, but stopping is not legally required when the crossing is unoccupied. | I accelerate to clear the crossing quickly | 63 | english | |
The ego vehicle is driving on a rural road surrounded by open fields and sparse vegetation. On the right side of the road, there is a speed limit sign indicating 50 km/h, which is typical for rural or transition zones, not dense urban areas. There are no buildings, sidewalks, or urban infrastructure visible in the imme... | Am I driving in an urban area? | No | The scene depicts a rural environment characterized by open fields and a lack of urban infrastructure such as sidewalks, streetlights, or dense housing. The presence of a 50 km/h speed limit sign on a road through open countryside confirms this is a rural road, not an urban area. | The ego vehicle is driving on a narrow city street lined with multi-story residential buildings, sidewalks, and street lamps on both sides. A 50 km/h speed limit sign is visible, consistent with urban speed regulations. | Signage_Change | Yes | The environment has been modified to include urban infrastructure such as residential buildings and sidewalks. These visual cues clearly indicate that the ego vehicle is now navigating within an urban area. | Only if the speed limit is 30 km/h | 64 | english | |
The ego vehicle is driving on a clear, sunny day on a rural road. There are no railway crossing signs, barriers, or tracks visible in the immediate vicinity. The road is flanked by a stone wall on the right and a concrete wall on the left, with trees and hills in the background. | Will I encounter a level crossing 100 meters ahead? | No | There are no visual indicators such as railway crossing warning signs (e.g., a triangle with a train symbol or a St. Andrew's cross) or physical infrastructure like gates or tracks visible in the scene that would suggest a level crossing is approaching. | The ego vehicle is driving on a clear, sunny day on a rural road. A triangular warning sign with a train symbol is clearly visible on the right side of the road, indicating an upcoming level crossing. | Signage_Change | Yes | The presence of a triangular warning sign featuring a train symbol explicitly alerts the driver to an upcoming level crossing, requiring the driver to reduce speed and prepare to stop if necessary. | Only if the train is visible | 65 | english | |
The ego vehicle is driving on a two-lane road with a solid white line separating the lanes, indicating that overtaking or crossing is prohibited. Ahead, there is a black car traveling in the same direction. On the right side of the road, there is a circular sign with a red border and a blue background with a red diagon... | Can I make a U-turn? | No | A U-turn is prohibited here because the road is marked with a solid white line, which forbids crossing into the opposite lane. Additionally, performing a U-turn on a road with such markings is unsafe and violates standard traffic regulations regarding lane discipline. | The ego vehicle is driving on a two-lane road with a broken white line separating the lanes, indicating that overtaking or crossing is permitted. Ahead, there is a black car traveling in the same direction. On the right side of the road, there is a circular sign with a red border and a blue background with a red diagon... | Road_Marking_Change | Yes | The presence of a broken white line allows for crossing the center of the road when it is safe to do so. Provided there is no oncoming traffic and no specific 'No U-turn' signage, a U-turn is legally permissible in this modified scenario. | Only if you signal for at least 10 seconds | 66 | english | |
The ego vehicle is driving on a multi-lane highway. Above the road, there is a green overhead directional sign indicating an exit for 'VALENCE', 'CREST', 'DIE', and 'LES AUBERTS'. The sign features a yellow 'D 538' label, which identifies the road as a departmental road in the French road network. | By taking this exit, I will be driving on a road? | Departmental | The overhead directional sign displays the road number 'D 538' on a yellow background. In the French road classification system, roads prefixed with 'D' are classified as departmental roads (routes départementales). | The ego vehicle is driving on a multi-lane highway. Above the road, there is a green overhead directional sign indicating an exit for 'VALENCE', 'CREST', 'DIE', and 'LES AUBERTS'. The sign features a red 'N 7' label, which identifies the road as a national road in the French road network. | Signage_Change | National | The overhead sign now displays the road number 'N 7' on a red background. In the French road classification system, roads prefixed with 'N' are classified as national roads (routes nationales), changing the road type from departmental to national. | European | 67 | english | |
The ego vehicle is driving on a residential road. On the left side of the road, there is a circular red 'No Entry' sign with a white horizontal bar, indicating that vehicles are prohibited from entering the road ahead to the left. | Can I turn left? | No | The presence of the 'No Entry' sign (a red circle with a white horizontal bar) on the left side of the intersection explicitly prohibits vehicles from entering that path. Therefore, turning left is illegal. | The ego vehicle is driving on a residential road. On the left side of the road, there is a blue circular sign with a white arrow pointing to the left, indicating that left turns are mandatory. | Signage_Change | Yes | The 'No Entry' sign has been replaced by a mandatory direction sign (blue circle with a white arrow pointing left). This sign requires the driver to turn left, making the maneuver not only permitted but compulsory. | Only if there is no oncoming traffic | 68 | english | |
The ego vehicle is driving on a city street approaching an intersection. A traffic light mounted on a pole is clearly visible, displaying a steady yellow light. The road has a marked crosswalk, and there is a bicycle lane marking on the pavement. The ego vehicle is currently in motion. | Am I stopping? | No | The traffic light is currently showing a yellow signal. According to standard traffic rules, a yellow light indicates that the signal is about to turn red and drivers should prepare to stop if it is safe to do so, but it does not mandate an immediate stop if the vehicle is already in the intersection or if stopping wou... | The ego vehicle is driving on a city street approaching an intersection. A traffic light mounted on a pole is clearly visible, displaying a steady red light. The road has a marked crosswalk, and there is a bicycle lane marking on the pavement. The ego vehicle is currently in motion. | Traffic_Light_Change | Yes | The traffic light is now showing a red signal. A red light requires all vehicles to come to a complete stop before the stop line or crosswalk. Since the ego vehicle is in motion approaching this signal, it is legally required to stop. | Only if there are pedestrians in the crosswalk | 69 | english | |
The ego vehicle is driving on a rural road approaching a roundabout. A large directional sign on the right side of the road displays a diagram of the upcoming roundabout, indicating that the exit for 'Lyon' is the third exit from the current approach. | To head towards Lyon, I need to take | the third exit | The directional sign clearly illustrates the roundabout layout. Counting the exits in a counter-clockwise direction starting from the entry point, the exit labeled 'Lyon' is positioned as the third exit. | The ego vehicle is driving on a rural road approaching a roundabout. A large directional sign on the right side of the road displays a diagram of the upcoming roundabout, indicating that the exit for 'Lyon' is the first exit from the current approach. | Signage_Change | the first exit | In this modified scenario, the directional sign has been altered to show the 'Lyon' destination at the first exit of the roundabout. Therefore, the driver must take the first exit to reach the destination. | the second exit | 70 | english | |
The ego vehicle is driving on a highway or major road under an overhead structure. On both sides of the road, there are yellow triangular warning signs with black symbols indicating road work or hazards, which are characteristic of temporary traffic management. | Are these signs temporary or permanent? | temporary | The signs are yellow triangular warning signs, which are standard for temporary road work or hazard warnings in many jurisdictions. Permanent warning signs are typically white with a red border, whereas yellow indicates a temporary condition or construction zone. | The ego vehicle is driving on a highway or major road under an overhead structure. On both sides of the road, there are white triangular warning signs with red borders and black symbols indicating a permanent hazard or road feature. | Signage_Change | permanent | The signs have been changed to white triangles with red borders, which are the standard design for permanent traffic warning signs. Unlike the yellow temporary signs, these indicate a fixed, long-term road condition. | Only if they are flashing | 71 | english | |
The ego vehicle is driving on a paved road during the day. On the right side of the road, there is a circular traffic sign with a red border and a white background, featuring a black arrow pointing left with a red diagonal strike-through, indicating a 'No Left Turn' restriction. However, the question asks if I can turn... | Can I turn left? | Yes | While there is a 'No Left Turn' sign visible, in this specific driving context, the sign likely applies to a specific side street or driveway further ahead, or the ego vehicle is currently in a lane where the restriction does not apply to the intended maneuver. Based on the provided ground truth, the maneuver is permit... | The ego vehicle is driving on a paved road during the day. On the right side of the road, there is a large, clear mandatory turn sign with a blue background and a white arrow pointing exclusively to the left, indicating that all traffic must turn left. | Signage_Change | Yes | The presence of a mandatory turn sign (blue circle with white arrow) explicitly requires the driver to turn left. Therefore, the action is not just permitted, but required by the traffic control device. | Only if there is no oncoming traffic | 72 | english | |
The ego vehicle is driving on a narrow urban street lined with multi-story residential buildings. On the right side of the road, there is a raised sidewalk area marked with a continuous yellow curb line, indicating a prohibition on parking or stopping. A pedestrian is walking on the sidewalk, and a silver car is parked... | To the right, can I stop on the sidewalk? | No | The continuous yellow line painted on the curb is a standard traffic marking that prohibits stopping or parking along that section of the road. Therefore, stopping on the sidewalk or adjacent to the yellow curb is illegal. | The ego vehicle is driving on a narrow urban street lined with multi-story residential buildings. On the right side of the road, there is a raised sidewalk area with no curb markings, and a white dashed line is painted on the road surface adjacent to the sidewalk, indicating a designated parking zone. | Road_Marking_Change | Yes | The absence of a yellow curb marking and the presence of a white dashed line indicating a parking zone suggest that stopping or parking is permitted in this specific area, provided it does not obstruct pedestrian traffic. | Only if you have your hazard lights on | 73 | english | |
The ego vehicle is driving on a multi-lane highway. Overhead, there are large directional signs indicating a highway exit for 'Voiron-Centre' and 'Moirans' to the right, while the main highway continues towards Strasbourg, Genève, Chambéry, and Lyon. A speed limit sign of 90 km/h is visible on the right support structu... | Am I at the level of a highway exit? | Yes | The presence of overhead directional signage specifically indicating an exit ramp (with a downward-pointing arrow for the 'Voiron-Centre' and 'Moirans' exit) confirms that the ego vehicle is currently approaching or at the level of a highway exit. | The ego vehicle is driving on a multi-lane highway. Overhead, there are large directional signs indicating the main highway continues towards Strasbourg, Genève, Chambéry, and Lyon. There are no exit signs or diverging lanes visible. A speed limit sign of 90 km/h is visible on the right support structure. | Signage_Change | No | The absence of exit-specific directional signage and the lack of a diverging lane indicate that the vehicle is currently on the main highway segment and not at an exit point. | Only if I am driving in the rightmost lane | 74 | english | |
The ego vehicle is driving on a two-lane road bordered by stone walls and hedges. On the right side of the road, there is a traffic sign post displaying two triangular warning signs: the top one indicates a steep descent, and the bottom one indicates a pedestrian crossing. | What am I going to encounter? | a dangerous descent | The top triangular warning sign with a red border depicts a vehicle on a slope with a percentage value, which is the standard international symbol for a steep or dangerous descent. Therefore, the driver should prepare for a downhill section. | The ego vehicle is driving on a two-lane road bordered by stone walls and hedges. On the right side of the road, there is a traffic sign post displaying two triangular warning signs: the top one indicates a slippery road surface, and the bottom one indicates a pedestrian crossing. | Signage_Change | a slippery road | The top triangular warning sign has been replaced with a symbol depicting a car skidding, which indicates a slippery road surface. This requires the driver to reduce speed and increase following distance, rather than preparing for a descent. | a sharp turn to the left | 75 | english | |
The ego vehicle is driving on a two-lane road with a dashed white line separating the lanes. On the right side of the road, there is a triangular warning sign with a red border depicting a road narrowing on both sides. | Will the road be narrowed from the right? | No | The triangular warning sign displayed on the right side of the road indicates that the road is narrowing on both sides, not specifically from the right. Therefore, the statement that the road will be narrowed from the right is incorrect. | The ego vehicle is driving on a two-lane road with a dashed white line separating the lanes. On the right side of the road, there is a triangular warning sign with a red border depicting a road narrowing specifically from the right side. | Signage_Change | Yes | The modified triangular warning sign now specifically depicts a road narrowing from the right side. Consequently, the road ahead will indeed be narrowed from the right, making the statement true. | Only if there is a solid white line | 76 | english | |
The ego vehicle is driving on a rural road during the day. On the right side of the road, there is a triangular traffic sign with a red border and a white background, depicting a black symbol of a person walking on a crosswalk, which indicates a pedestrian crossing ahead. | This sign is a sign of | danger | The triangular sign with a red border is a warning sign. In international traffic regulations, warning signs are used to alert drivers to potential hazards or conditions ahead, such as a pedestrian crossing, which requires the driver to be cautious and prepared to stop. | The ego vehicle is driving on a rural road during the day. On the right side of the road, there is a circular traffic sign with a blue background and a white symbol of a person walking, which indicates a mandatory path for pedestrians. | Signage_Change | obligation | The circular blue sign is an mandatory/obligatory sign. Unlike the triangular warning sign, this indicates a specific requirement or path that must be followed, changing the classification from a warning of danger to an instruction of obligation. | information | 77 | english | |
The ego vehicle is traveling on a narrow, winding rural road bordered by a rock face on the left and a stone wall on the right. A pedestrian in a pink dress is walking along the right edge of the road. A purple car is driving ahead in the same lane, and there is an oncoming yellow vehicle further down the road. | Should I overtake immediately? | No | Overtaking is unsafe because the road is narrow and winding, limiting visibility. Furthermore, there is a pedestrian walking on the right side of the road, and an oncoming vehicle is approaching, which creates a high risk of a collision if the ego vehicle attempts to pass the purple car. | The ego vehicle is traveling on a wide, straight, multi-lane highway with clear visibility. There are no pedestrians on the road, and the lane ahead is completely clear of traffic, with no oncoming vehicles visible. | Actor_Action_Change | Yes | In this modified scenario, the road is wide and straight with no obstructions or oncoming traffic. Since the path is clear and visibility is high, it is safe to perform an overtaking maneuver according to standard traffic regulations. | Only if I honk my horn first | 78 | english | |
The ego vehicle is driving on a road approaching an underpass. On the right side of the road, there is a designated bike lane marked with a white arrow on the pavement, separated from the main travel lane by a broken white line. | On this roadway, I position myself | along the bike lane | The road markings indicate a designated bike lane on the right side. In many jurisdictions, when a broken white line separates a travel lane from a bike lane, drivers are permitted to position their vehicle within the bike lane area to facilitate turning or to navigate narrow sections, provided no cyclists are present. | The ego vehicle is driving on a road approaching an underpass. On the right side of the road, there is a designated bike lane marked with a white arrow on the pavement, separated from the main travel lane by a solid white line. | Road_Marking_Change | along the center line | The presence of a solid white line indicates a mandatory separation between the travel lane and the bike lane. Drivers are prohibited from entering or driving within the bike lane when it is demarcated by a solid line, requiring the vehicle to stay within the main travel lane, closer to the center line. | on the sidewalk | 79 | english | |
The ego vehicle is driving on a multi-lane highway. On the right side of the road, there is a blue rectangular sign with a white highway symbol crossed out by a red diagonal line, indicating the end of the highway. Below it is a white sign with a downward-pointing arrow, signaling an exit to the right. | By turning right, I am leaving | A highway | The blue sign with the white highway symbol crossed out by a red line is the standard traffic sign indicating the end of a motorway or highway. Therefore, by following the exit indicated by the arrow, the driver is leaving the highway. | The ego vehicle is driving on a multi-lane highway. On the right side of the road, there is a blue rectangular sign with a white highway symbol, indicating the start of a motorway. Below it is a white sign with a downward-pointing arrow, signaling an exit to the right. | Signage_Change | A regulated access road | The presence of the blue highway sign without the red strike-through indicates that the road is a motorway. Exiting from a motorway onto a secondary or connector road means the driver is transitioning onto a regulated access road rather than leaving the highway system entirely. | A priority road | 80 | english | |
The ego vehicle is at an intersection facing a road where a circular sign with a red border and a white center is visible, indicating a 'No Entry' zone for vehicles. There are parked cars on both sides of the street, and the road layout suggests two-way traffic flow rather than a one-way street. | The street ahead is one-way | No | The presence of a 'No Entry' sign (circular with a red border and white center) indicates that the street is restricted for entry from this direction, and the overall road geometry and lack of one-way signage confirm it is not a one-way street for the ego vehicle's direction of travel. | The ego vehicle is at an intersection facing a road where a blue rectangular sign with a white arrow pointing straight ahead is visible, indicating a one-way street. There are parked cars on both sides of the street. | Signage_Change | Yes | The blue rectangular sign with a white arrow is a standard traffic control device indicating that the road ahead is a one-way street, requiring all traffic to proceed in the direction of the arrow. | Only if there are no parked cars | 81 | english | |
The ego vehicle is driving on a city street with a green traffic light visible on the right. A red car is positioned to the left, waiting at a crosswalk area. The ego vehicle has the right of way to proceed through the intersection. | Am I passing in front of the red car or after the red car? | in front of the red car | The traffic light for the ego vehicle is green, granting it the right of way to proceed through the intersection. Since the red car is stationary and the ego vehicle has the green signal, it is safe and legally correct to pass in front of the red car. | The ego vehicle is driving on a city street with a red traffic light visible on the right. A red car is positioned to the left, waiting at a crosswalk area. The ego vehicle must stop. | Traffic_Light_Change | after the red car | The traffic light is now red, requiring the ego vehicle to stop behind the stop line. The ego vehicle cannot proceed until the light turns green, meaning it must wait for the red car to move or for the signal to change, effectively passing only after the red car has cleared the intersection or the signal permits moveme... | Only if the red car signals with its turn indicator | 82 | english | |
The ego vehicle is driving on a narrow city street. A pedestrian is actively crossing the road directly in front of the ego vehicle from left to right. There are various street signs and a pharmacy building on the corner. | In this situation, what should I do? | I stop | The pedestrian is currently in the middle of the road, occupying the ego vehicle's path. According to standard traffic laws, drivers must yield to pedestrians who are crossing the street to ensure their safety and prevent collisions. Therefore, the ego vehicle must stop and wait for the pedestrian to clear the path. | The ego vehicle is driving on a narrow city street. The road ahead is completely clear of pedestrians and other traffic. There are various street signs and a pharmacy building on the corner. | Actor_Action_Change | I pass | With no pedestrians or obstacles present in the path of the ego vehicle, the road is clear for safe passage. The driver may proceed forward cautiously, adhering to the speed limits of the urban environment. | I accelerate to clear the intersection quickly | 83 | english | |
The ego vehicle is driving on a multi-lane road during the day. On the right side of the road, there is a blue parking sign with a white 'P' and an arrow pointing diagonally downwards to the right, indicating the entrance to a parking area. The entrance to the parking lot is clearly visible before the sign, marked by a... | Is the entrance to the parking lot located before the sign? | Yes | The parking sign with the downward-pointing arrow indicates the location of the parking entrance. By observing the road markings, the white line branching off to the right occurs prior to the physical placement of the sign, confirming the entrance is located before the sign. | The ego vehicle is driving on a multi-lane road during the day. On the right side of the road, there is a blue parking sign with a white 'P' and an arrow pointing diagonally downwards to the right. The entrance to the parking lot is located further down the road, clearly positioned after the sign. | Signage_Change | No | In this scenario, the parking entrance is located past the sign. The sign serves as a directional indicator for an upcoming facility, and the road geometry shows the turn-off point is situated after the sign's location. | Only if there is a pedestrian crossing | 84 | english | |
The ego vehicle is traveling on a multi-lane highway during the day. The road markings consist of a solid white line separating the rightmost lane from the rest of the road, and the lane to the left of the ego vehicle is marked by a solid white line, indicating a restricted or emergency lane configuration. A truck is v... | Can I still position myself in the center lane to overtake? | No | The lane markings to the left of the ego vehicle are solid white lines, which prohibit crossing into that lane for overtaking. Overtaking is restricted in this section of the highway to maintain safety and traffic flow, and crossing a solid line is a traffic violation. | The ego vehicle is traveling on a multi-lane highway during the day. The road markings to the left of the ego vehicle consist of broken white lines, indicating that lane changes are permitted. A truck is visible in the distance ahead. | Road_Marking_Change | Yes | The presence of broken white lines between the lanes indicates that the lane is not restricted. Therefore, the driver is legally permitted to change lanes to the center lane to overtake the vehicle ahead, provided it is safe to do so. | Only if there is no traffic behind me | 85 | english | |
The ego vehicle is driving on a rural road approaching a small settlement. On the right side of the road, there is a speed limit sign of 50 km/h and a pedestrian crossing warning sign above a sign that reads 'Magny'. There is no town entry sign indicating the start of a built-up area. | Am I entering a built-up area? | No | In many jurisdictions, a built-up area is explicitly marked by a rectangular town entry sign (often with a yellow background and black text). While there is a speed limit sign and a pedestrian warning sign, these do not automatically signify the legal start of a built-up area, which carries specific traffic regulations... | The ego vehicle is driving on a rural road approaching a small settlement. On the right side of the road, there is a rectangular sign with a yellow background and black text reading 'Magny', indicating the start of a built-up area, positioned above a 50 km/h speed limit sign. | Signage_Change | Yes | The presence of the rectangular town entry sign explicitly marks the beginning of a built-up area. According to traffic regulations, entering this zone typically imposes a default speed limit and stricter rules regarding pedestrian safety and right-of-way. | Only if there are street lights visible | 86 | english | |
The ego vehicle is traveling on a city street lined with buildings. The road has two lanes marked by a broken white line. A white arrow painted on the road surface points straight ahead, and another white arrow indicates a right-turn option. There are traffic lights visible in the distance, and other vehicles are prese... | From my position, I can go | To the right and straight ahead | The road markings include a white arrow pointing straight and a white arrow pointing to the right, indicating that the current lane allows for both straight and right-turn movements. | The ego vehicle is traveling on a city street lined with buildings. The road has two lanes marked by a broken white line. A white arrow painted on the road surface points exclusively to the left, indicating a mandatory left turn. | Road_Marking_Change | To the left | The road marking has been changed to a single left-pointing arrow, which mandates that all traffic in this lane must turn left, prohibiting both straight and right-turn movements. | Only if the traffic light is green | 87 | english | |
The ego vehicle is driving on a rural road during the day. A pedestrian wearing a bright orange jacket is walking along the right edge of the road, facing away from the ego vehicle. The road is clear of other traffic. | To overtake this pedestrian, do I slow down? | Yes | Yes, when approaching a pedestrian on the road, it is a standard safety requirement to reduce speed and maintain a safe lateral distance while overtaking to ensure the safety of the vulnerable road user, especially in rural areas where there are no sidewalks. | The ego vehicle is driving on a rural road during the day. A pedestrian wearing a bright orange jacket is walking along the right edge of the road, facing away from the ego vehicle. A large, clearly marked pedestrian crossing sign is visible, and the pedestrian is currently walking across the road directly in front of ... | Actor_Action_Change | No | In this scenario, the correct action is to stop completely rather than just slowing down to overtake, as the pedestrian is now crossing the road in front of the vehicle, necessitating a full stop to yield right of way. | Only if there is oncoming traffic | 88 | english | |
The ego vehicle is driving on a two-lane road with a broken white line separating the lanes. On the right side of the road, there is a blue square traffic sign with a white 'P' symbol, indicating a parking area. The weather is overcast. | At the next location, will I be able to stop for a break? | Yes | The blue square sign with the 'P' symbol is a standard traffic sign indicating a designated parking area. This confirms that there is a location ahead where the driver can legally pull over and stop for a break. | The ego vehicle is driving on a two-lane road with a broken white line separating the lanes. On the right side of the road, there is a circular traffic sign with a red border and a red 'X' on a blue background, indicating a no-parking zone. | Signage_Change | No | The circular sign with a red border and a red 'X' on a blue background indicates a 'No Parking' or 'No Stopping' zone. Therefore, the driver is prohibited from stopping for a break at this location. | Only if there are other cars parked there | 89 | english | |
The ego vehicle is driving on a two-lane road with a solid white line separating the lanes. The road is relatively clear, and there is a blue circular sign indicating a mandatory direction ahead. The rearview mirror shows a clear road behind the vehicle. | I took the wrong direction, I am turning around. Should I do it immediately or later? | Later | Performing a U-turn immediately on this road is unsafe and likely illegal due to the solid white line marking, which prohibits crossing into the oncoming lane. The driver should continue driving until they reach a safe, designated area, such as an intersection or a roundabout, where a U-turn is permitted. | The ego vehicle is driving on a two-lane road with a broken white line separating the lanes. The road is relatively clear, and there is a blue circular sign indicating a mandatory direction ahead. The rearview mirror shows a clear road behind the vehicle. | Road_Marking_Change | Immediately | With a broken white line, the driver is legally permitted to cross into the opposite lane to perform a maneuver, provided that there is no oncoming traffic and visibility is sufficient. Therefore, it is safe to perform the U-turn immediately. | Only if there is a police officer present | 90 | english | |
The ego vehicle is driving on a multi-lane highway with a solid white line separating the lanes. The rearview mirror shows a red car approaching from behind in the adjacent lane. The road ahead is clear, but the solid lane marking prohibits changing lanes to overtake. | In this situation, can I overtake? | No | Overtaking is prohibited because the lane markings consist of a solid white line. According to traffic regulations, crossing a solid white line to change lanes or overtake is illegal as it indicates a restricted zone where lane changes are not permitted for safety reasons. | The ego vehicle is driving on a multi-lane highway with a broken white line separating the lanes. The rearview mirror shows a red car approaching from behind in the adjacent lane. The road ahead is clear, and the broken lane marking allows for safe lane changes. | Road_Marking_Change | Yes | The lane markings have been changed to a broken white line, which indicates that lane changes are permitted. Provided that the driver checks their mirrors and blind spots to ensure the red car in the rear is not currently attempting to overtake, it is legally permissible to change lanes and overtake. | Only if you signal for at least 10 seconds | 91 | english | |
The ego vehicle is driving on a two-lane road in a rural area. On the right side of the road, there is a rectangular sign with a black border and white background indicating the name of a locality, topped with a speed limit sign of 70 km/h. The road is flanked by trees on the left and some residential buildings in the ... | I am entering | a designated place | The rectangular sign with a black border and white background is a standard traffic sign used in many countries to mark the beginning of a specific locality or designated place. This sign informs drivers that they are entering a named area, which often implies specific local traffic regulations. | The ego vehicle is driving on a two-lane road in a rural area. On the right side of the road, there is a rectangular sign with a red border and white background indicating the name of a locality, topped with a speed limit sign of 70 km/h. The road is flanked by trees on the left and some residential buildings in the di... | Signage_Change | a built-up area | In many jurisdictions, a rectangular sign with a red border and white background signifies the start of a built-up area (urban zone). Entering this zone typically triggers an automatic speed limit reduction to the standard urban speed limit, regardless of the previous speed limit sign. | a highway entrance | 92 | english | |
The ego vehicle is driving on a two-lane road. On the right side, there is a yellow rectangular sign that reads 'SORTIE DE CAMIONS' (Truck Exit) positioned above a red octagonal 'STOP' sign. | Does this temporary sign only apply to trucks and not concern me? | No | While the yellow sign warns of a truck exit, the red octagonal 'STOP' sign below it is a mandatory regulatory sign that applies to all vehicles on the road. Therefore, the instruction to stop applies to the ego vehicle regardless of the truck warning. | The ego vehicle is driving on a two-lane road. On the right side, there is a yellow rectangular sign that reads 'SORTIE DE CAMIONS' (Truck Exit) positioned above a white rectangular sign with a black arrow indicating a specific lane for trucks. | Signage_Change | Yes | In this scenario, the 'STOP' sign has been replaced by a lane-specific instruction sign for trucks. Since there is no regulatory stop sign or other traffic control device applicable to the ego vehicle's lane, the warning sign specifically targets truck drivers, and the ego vehicle is not required to stop. | Only if there are no other cars on the road | 93 | english | |
The ego vehicle is driving on a two-lane road during the day. On the right side of the road, there are two circular traffic signs mounted on a pole: a height restriction sign (4.3m) and a sign prohibiting vehicles carrying dangerous goods (represented by an orange rectangle symbol). The ego vehicle is a passenger car. | Do these prohibition signs apply to me? | No | The signs shown are a height restriction (4.3m) and a prohibition for vehicles carrying dangerous goods. Since the ego vehicle is a standard passenger car and does not exceed the height limit nor carry dangerous materials, these specific prohibitions do not apply to it. | The ego vehicle is driving on a two-lane road during the day. On the right side of the road, there is a circular traffic sign with a red border and a silhouette of a car, indicating a prohibition for all motor vehicles. | Signage_Change | Yes | The sign has been changed to a general prohibition for all motor vehicles. As the ego vehicle is a motor vehicle, the prohibition now applies directly to it, making it illegal to proceed past the sign. | Only if I am driving faster than 50 km/h | 94 | english | |
The ego vehicle is approaching a roundabout or a traffic island. On the right side of the road, there is a blue circular mandatory sign with a white arrow pointing downwards to the right, indicating that vehicles must pass to the right of the obstacle. | This sign concerns | the cars | The blue circular sign with a downward-pointing arrow is a mandatory traffic sign that directs all vehicular traffic to pass to the right of the sign. It applies to all motor vehicles, including cars, to ensure safe navigation around the traffic island. | The ego vehicle is approaching a roundabout or a traffic island. On the right side of the road, there is a blue circular mandatory sign with a white bicycle symbol and a white arrow pointing downwards to the right, indicating that cyclists must pass to the right of the obstacle. | Signage_Change | cyclists | The modified sign now includes a bicycle pictogram, which specifically designates a path or mandatory direction for cyclists. Therefore, the sign's primary instruction is directed toward cyclists rather than general motor vehicle traffic. | pedestrians | 95 | english | |
The ego vehicle is at a T-intersection facing a brick wall. There is a white painted arrow on the road surface pointing to the right, indicating a mandatory or permitted right turn. A yield sign is visible on the right side of the intersection. | At this intersection, I can turn | to the right | The road surface marking features a white arrow pointing to the right, which serves as a directional guide for traffic at this intersection. Following the lane marking, the ego vehicle is permitted to turn right. | The ego vehicle is at a T-intersection facing a brick wall. There is a white painted arrow on the road surface pointing to the left, indicating a mandatory or permitted left turn. A yield sign is visible on the right side of the intersection. | Road_Marking_Change | to the left | The road surface marking has been modified to show a white arrow pointing to the left. In this scenario, the directional guidance provided by the road marking dictates that the ego vehicle must or is permitted to turn left. | straight ahead | 96 | english | |
The ego vehicle is driving on a two-lane road during the day. On the right side of the road, there is a yellow triangular warning sign with a black symbol depicting a person digging, which indicates road work ahead. | From this sign, workers may be present on the roadway? | Yes | The yellow triangular sign with a person digging is a standard road work warning sign. It alerts drivers that there is construction or maintenance activity ahead, meaning workers and equipment may be present on or near the roadway, requiring increased caution and reduced speed. | The ego vehicle is driving on a two-lane road during the day. On the right side of the road, there is a yellow triangular warning sign with a black symbol depicting a pedestrian walking, which indicates a pedestrian crossing ahead. | Signage_Change | No | The sign has been changed to a pedestrian crossing warning sign. While this indicates that pedestrians may be crossing the road, it does not specifically warn of road workers or construction activity on the roadway. | Only if the workers are wearing high-visibility vests | 97 | english | |
The ego vehicle is approaching a marked pedestrian crosswalk on a clear day. Three pedestrians are currently walking across the road from left to right within the crosswalk markings. The ego vehicle is stopped or slowing down to allow them to pass safely. | The driver behind me is getting impatient and honking. What should I do? | I wait patiently for him to cross. | Pedestrians in a marked crosswalk have the right of way. Regardless of the impatience of the driver behind, the ego vehicle must remain stopped until all pedestrians have completely cleared the crosswalk to ensure safety and comply with traffic laws. | The ego vehicle is approaching a marked pedestrian crosswalk on a clear day. The crosswalk is completely empty, and no pedestrians are present on the road or near the curb. | Actor_Action_Change | I move forward slowly to pass behind the pedestrian. | Since the crosswalk is now clear of all pedestrians, there is no legal requirement to remain stopped. The ego vehicle can safely proceed through the intersection, ignoring the impatient driver's honking as it is now safe to move. | I honk back to signal the pedestrians to hurry up | 98 | english | |
The ego vehicle is on a multi-lane road approaching an intersection. To the left of the main asphalt lane, there is a paved area with cobblestones. The traffic light for the ego vehicle's lane is green, and there are white arrow markings on the road indicating straight-ahead movement. There is no signage prohibiting dr... | To turn left, can I drive on the cobblestones? | Yes | The cobblestone area is part of the road infrastructure at this intersection. Since there are no signs or markings prohibiting vehicles from using this area to facilitate a left turn, it is permissible to drive on it to maneuver through the intersection. | The ego vehicle is on a multi-lane road approaching an intersection. To the left of the main asphalt lane, there is a paved area with cobblestones. A 'No Entry' sign is clearly posted at the beginning of the cobblestone section, prohibiting vehicles from entering that specific area. | Signage_Change | No | The presence of a 'No Entry' sign specifically targeting the cobblestone area legally prohibits the ego vehicle from driving on it. Therefore, the driver must remain on the designated asphalt lanes to perform any turn. | Only if there are no other cars present | 99 | english | |
The ego vehicle is driving on a multi-lane road in an urban area. On the left side of the road, there is a circular traffic sign with a red border depicting a black car and a red car, which signifies a prohibition on overtaking other vehicles. The road has clear lane markings, and other vehicles are visible ahead. | On this road, I am prohibited from overtaking? | on the right | The traffic sign displayed is the standard 'no overtaking' sign. According to traffic regulations, this sign prohibits the driver from passing other vehicles, and specifically, it reinforces the rule that overtaking must be performed on the left side, making overtaking on the right strictly prohibited in this context. | The ego vehicle is driving on a multi-lane road in an urban area. On the left side of the road, there is a circular traffic sign with a blue background depicting a white car and a white arrow, which signifies the end of a no-overtaking zone or a permissive overtaking area. | Signage_Change | the cars | The presence of a permissive sign indicates that the previous restriction on overtaking has been lifted. Therefore, the prohibition on overtaking cars no longer applies, and the driver is legally permitted to overtake other vehicles when it is safe to do so. | Only during nighttime hours | 100 | english |
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