{
    "objects": [
        {
            "name": "street_lanes",
            "type": "road_markings",
            "centroid": [
                410,
                520
            ],
            "bbox": [
                260,
                320,
                560,
                720
            ]
        },
        {
            "name": "centerline_dashes",
            "type": "road_markings",
            "centroid": [
                410,
                600
            ],
            "bbox": [
                385,
                420,
                435,
                720
            ]
        },
        {
            "name": "right_lane_markings",
            "type": "road_markings",
            "centroid": [
                640,
                610
            ],
            "bbox": [
                585,
                430,
                690,
                720
            ]
        },
        {
            "name": "left_lane_markings",
            "type": "road_markings",
            "centroid": [
                180,
                610
            ],
            "bbox": [
                130,
                430,
                230,
                720
            ]
        },
        {
            "name": "traffic_lights_left",
            "type": "traffic_signal",
            "centroid": [
                185,
                395
            ],
            "bbox": [
                140,
                280,
                230,
                460
            ]
        },
        {
            "name": "traffic_lights_right",
            "type": "traffic_signal",
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                610,
                395
            ],
            "bbox": [
                560,
                280,
                660,
                460
            ]
        },
        {
            "name": "vehicles_ahead",
            "type": "vehicle_group",
            "centroid": [
                410,
                705
            ],
            "bbox": [
                320,
                620,
                500,
                770
            ]
        },
        {
            "name": "crosswalk_area",
            "type": "crosswalk",
            "centroid": [
                410,
                520
            ],
            "bbox": [
                320,
                455,
                500,
                575
            ]
        },
        {
            "name": "street_lighting_poles",
            "type": "infrastructure",
            "centroid": [
                550,
                420
            ],
            "bbox": [
                480,
                280,
                620,
                520
            ]
        },
        {
            "name": "trees_left_row",
            "type": "vegetation",
            "centroid": [
                90,
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            ],
            "bbox": [
                0,
                250,
                220,
                720
            ]
        },
        {
            "name": "trees_right_row",
            "type": "vegetation",
            "centroid": [
                720,
                520
            ],
            "bbox": [
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                250,
                900,
                720
            ]
        },
        {
            "name": "sidewalk_edge",
            "type": "road_edge",
            "centroid": [
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            ],
            "bbox": [
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                520,
                850,
                720
            ]
        },
        {
            "name": "roadway",
            "type": "drivable_area",
            "centroid": [
                410,
                620
            ],
            "bbox": [
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                720,
                820
            ]
        },
        {
            "name": "driver_vehicle",
            "type": "ego_vehicle",
            "centroid": [
                410,
                820
            ],
            "bbox": [
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                560,
                960
            ]
        }
    ],
    "regions": [
        {
            "name": "road_intersection_ahead",
            "type": "intersection",
            "polygon": [
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                    40,
                    520
                ],
                [
                    880,
                    520
                ],
                [
                    880,
                    360
                ],
                [
                    40,
                    360
                ]
            ]
        },
        {
            "name": "lane_zone_center",
            "type": "lane_area",
            "polygon": [
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                    340,
                    360
                ],
                [
                    480,
                    360
                ],
                [
                    540,
                    820
                ],
                [
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                ]
            ]
        },
        {
            "name": "left_side_zone",
            "type": "side_area",
            "polygon": [
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                    0,
                    360
                ],
                [
                    320,
                    360
                ],
                [
                    320,
                    820
                ],
                [
                    0,
                    820
                ]
            ]
        },
        {
            "name": "right_side_zone",
            "type": "side_area",
            "polygon": [
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                    500,
                    360
                ],
                [
                    900,
                    360
                ],
                [
                    900,
                    820
                ],
                [
                    500,
                    820
                ]
            ]
        },
        {
            "name": "crosswalk_region",
            "type": "crosswalk_area",
            "polygon": [
                [
                    330,
                    430
                ],
                [
                    490,
                    430
                ],
                [
                    520,
                    560
                ],
                [
                    300,
                    560
                ]
            ]
        },
        {
            "name": "current_corridor",
            "type": "navigable_corridor",
            "polygon": [
                [
                    120,
                    360
                ],
                [
                    700,
                    360
                ],
                [
                    760,
                    820
                ],
                [
                    60,
                    820
                ]
            ]
        }
    ],
    "semantic_relationships": [
        {
            "subject": "driver_vehicle",
            "relation": "is_within",
            "object": "current_corridor"
        },
        {
            "subject": "vehicles_ahead",
            "relation": "are_in_front_of",
            "object": "driver_vehicle"
        },
        {
            "subject": "vehicles_ahead",
            "relation": "are_in",
            "object": "road_intersection_ahead"
        },
        {
            "subject": "crosswalk_area",
            "relation": "lies_within",
            "object": "crosswalk_region"
        },
        {
            "subject": "crosswalk_region",
            "relation": "is_part_of",
            "object": "road_intersection_ahead"
        },
        {
            "subject": "street_lanes",
            "relation": "is_on",
            "object": "roadway"
        },
        {
            "subject": "centerline_dashes",
            "relation": "are_aligned_with",
            "object": "lane_zone_center"
        },
        {
            "subject": "left_lane_markings",
            "relation": "are_on_left_of",
            "object": "roadway"
        },
        {
            "subject": "right_lane_markings",
            "relation": "are_on_right_of",
            "object": "roadway"
        },
        {
            "subject": "traffic_lights_left",
            "relation": "controls",
            "object": "road_intersection_ahead"
        },
        {
            "subject": "traffic_lights_right",
            "relation": "controls",
            "object": "road_intersection_ahead"
        },
        {
            "subject": "trees_left_row",
            "relation": "border",
            "object": "left_side_zone"
        },
        {
            "subject": "trees_right_row",
            "relation": "border",
            "object": "right_side_zone"
        },
        {
            "subject": "sidewalk_edge",
            "relation": "is_adjacent_to",
            "object": "right_side_zone"
        },
        {
            "subject": "street_lighting_poles",
            "relation": "are_associated_with",
            "object": "current_corridor"
        }
    ],
    "current_location": "current_corridor",
    "plans": [
        {
            "plan_name": "proceed_forward_through_intersection",
            "start_region": "current_corridor",
            "target_region": "road_intersection_ahead",
            "constraints": [
                {
                    "constraint_name": "stay_in_lane_center_when_possible",
                    "region": "lane_zone_center"
                },
                {
                    "constraint_name": "crosswalk_region_must_be_interpreted",
                    "region": "crosswalk_region"
                }
            ]
        }
    ]
}