Threat Pipeline V4

Threat Graph Viewer

Select any authored future-trajectory threat from the 32-label local graph catalog, inspect node-level explanations, and check sibling-routing splits.

The current lane-change family is easiest to sanity-check here: once a completed lane change is proven, unsafe_lane_change can reroute directly to failure_to_yield_vehicle, aggressive_weaving, noncommittal_merge, or meaningless_lane_change instead of confirming the broader label.

meaningless_lateral_drift now uses GT-relative material lateral deviation wording: it applies only to unexplained in-lane offset that does not already complete a lane change, become sustained lane straddling, or leave the roadway.

The catalog now also includes collision_with_static_objects: it confirms only when ego's predicted path still overlaps a non-vehicle static obstacle, and it can reroute to off_road_driving or stops_without_escape_room when those narrower explanations fit better.

The right-of-way graphs now include GT-vs-pred materiality gates: failure_to_yield_vehicle and failure_to_yield_pedestrian only continue when the predicted trajectory adds or materially worsens the priority conflict instead of sharing the same violation as GT.

The route-compliance family now includes late_navigation_lane_preparation: it covers scenes where ego waits too long to set up for an instructed turn, exit, or branch, then either risks future route failure or a forced risky late lane change, with reroutes to not_following_navigation_instruction or unsafe_lane_change when those narrower threats are already the better label.

The temporary-control family is also worth checking here now: not_following_temporary_traffic_instructions covers clear officer, flagger, construction-guide, or cone-directed instructions, suppresses when a visible safety or conflicting-authority reason explains the move, and can reroute to wrong_way_one_way_road, wrong_side_of_road, or red_light_violation when those become the narrower primary label.

bash scripts/threat_pipeline/export_graph_viewer_assets.sh refreshes the local catalog used by this page.

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