{
    "objects": [
        {
            "name": "lane_markings",
            "type": "road markings"
        },
        {
            "name": "vehicle_ahead_group",
            "type": "vehicles"
        },
        {
            "name": "street_sign_diamond",
            "type": "sign"
        },
        {
            "name": "vehicle_headlights_reflection",
            "type": "lights"
        }
    ],
    "regions": [
        {
            "name": "roadway",
            "polygon": [
                [
                    100,
                    360
                ],
                [
                    860,
                    360
                ],
                [
                    930,
                    820
                ],
                [
                    10,
                    820
                ]
            ]
        },
        {
            "name": "left_shoulder",
            "polygon": [
                [
                    0,
                    470
                ],
                [
                    120,
                    470
                ],
                [
                    230,
                    820
                ],
                [
                    0,
                    820
                ]
            ]
        },
        {
            "name": "right_shoulder",
            "polygon": [
                [
                    860,
                    470
                ],
                [
                    1020,
                    470
                ],
                [
                    1020,
                    820
                ],
                [
                    930,
                    820
                ]
            ]
        },
        {
            "name": "oncoming_lane_area",
            "polygon": [
                [
                    380,
                    360
                ],
                [
                    640,
                    360
                ],
                [
                    700,
                    820
                ],
                [
                    320,
                    820
                ]
            ]
        },
        {
            "name": "vehicle_path_ahead",
            "polygon": [
                [
                    420,
                    380
                ],
                [
                    600,
                    380
                ],
                [
                    650,
                    700
                ],
                [
                    380,
                    700
                ]
            ]
        },
        {
            "name": "current_location",
            "polygon": [
                [
                    470,
                    690
                ],
                [
                    610,
                    690
                ],
                [
                    620,
                    770
                ],
                [
                    460,
                    770
                ]
            ]
        }
    ],
    "semantic_relationships": [
        {
            "subject": "vehicle_ahead_group",
            "relation": "is_ahead_of",
            "object": "current_location"
        },
        {
            "subject": "vehicle_ahead_group",
            "relation": "is_within",
            "object": "vehicle_path_ahead"
        },
        {
            "subject": "lane_markings",
            "relation": "are_on",
            "object": "roadway"
        },
        {
            "subject": "street_sign_diamond",
            "relation": "is_on",
            "object": "right_shoulder"
        },
        {
            "subject": "vehicle_headlights_reflection",
            "relation": "is_causing_glare_on",
            "object": "roadway"
        },
        {
            "subject": "current_location",
            "relation": "is_on",
            "object": "roadway"
        },
        {
            "subject": "roadway",
            "relation": "includes",
            "object": "oncoming_lane_area"
        }
    ],
    "current_location": "current_location",
    "plans": [
        {
            "plan_id": "plan_follow_roadway",
            "start_from": "current_location",
            "steps": [
                {
                    "step_id": "step_1",
                    "action": "continue_forward",
                    "target_region": "vehicle_path_ahead"
                }
            ]
        }
    ]
}