{
    "objects": [
        {
            "name": "ego_vehicle",
            "type": "vehicle",
            "bounding_box_topdown_xywh": [
                770,
                780,
                90,
                45
            ],
            "attributes": {
                "role": "self",
                "color": "dark"
            }
        },
        {
            "name": "lead_vehicle",
            "type": "vehicle",
            "bounding_box_topdown_xywh": [
                720,
                690,
                90,
                45
            ],
            "attributes": {
                "role": "ahead"
            }
        },
        {
            "name": "road_lane_markings",
            "type": "road_marking",
            "bounding_box_topdown_xywh": [
                540,
                900,
                420,
                120
            ],
            "attributes": {
                "kind": "dashed_centerline"
            }
        },
        {
            "name": "guardrail_left",
            "type": "barrier",
            "bounding_box_topdown_xywh": [
                250,
                650,
                200,
                320
            ],
            "attributes": {
                "side": "left"
            }
        },
        {
            "name": "guardrail_right",
            "type": "barrier",
            "bounding_box_topdown_xywh": [
                930,
                650,
                260,
                320
            ],
            "attributes": {
                "side": "right"
            }
        },
        {
            "name": "cars_on_right",
            "type": "parking_cars",
            "bounding_box_topdown_xywh": [
                1030,
                620,
                520,
                250
            ],
            "attributes": {
                "side": "right",
                "count_estimate": "several"
            }
        },
        {
            "name": "trees_left_line",
            "type": "vegetation",
            "bounding_box_topdown_xywh": [
                0,
                520,
                420,
                520
            ],
            "attributes": {
                "kind": "trees"
            }
        },
        {
            "name": "trees_right_line",
            "type": "vegetation",
            "bounding_box_topdown_xywh": [
                820,
                520,
                520,
                520
            ],
            "attributes": {
                "kind": "trees"
            }
        },
        {
            "name": "fence_left",
            "type": "barrier",
            "bounding_box_topdown_xywh": [
                120,
                560,
                240,
                330
            ],
            "attributes": {
                "side": "left",
                "kind": "fence"
            }
        },
        {
            "name": "pedestrian_building_area_left",
            "type": "facility",
            "bounding_box_topdown_xywh": [
                80,
                470,
                380,
                220
            ],
            "attributes": {
                "kind": "buildings_structures"
            }
        },
        {
            "name": "traffic_signals_ahead",
            "type": "traffic_control",
            "bounding_box_topdown_xywh": [
                560,
                300,
                200,
                120
            ],
            "attributes": {
                "kind": "signal_lights"
            }
        }
    ],
    "regions": [
        {
            "name": "current_location",
            "type": "roadway_region",
            "polygon_topdown_xy": [
                [
                    610,
                    920
                ],
                [
                    820,
                    920
                ],
                [
                    780,
                    650
                ],
                [
                    540,
                    650
                ]
            ],
            "attributes": {
                "context": "lane area directly in front of ego_vehicle"
            }
        },
        {
            "name": "main_road",
            "type": "road",
            "polygon_topdown_xy": [
                [
                    420,
                    980
                ],
                [
                    900,
                    980
                ],
                [
                    860,
                    420
                ],
                [
                    380,
                    420
                ]
            ],
            "attributes": {
                "lanes": "multi_lane_forward"
            }
        },
        {
            "name": "left_side_corridor",
            "type": "roadside",
            "polygon_topdown_xy": [
                [
                    0,
                    980
                ],
                [
                    420,
                    980
                ],
                [
                    430,
                    420
                ],
                [
                    0,
                    420
                ]
            ],
            "attributes": {
                "includes": "fence_left and guardrail_left and trees_left_line"
            }
        },
        {
            "name": "right_side_corridor",
            "type": "roadside",
            "polygon_topdown_xy": [
                [
                    900,
                    980
                ],
                [
                    1280,
                    980
                ],
                [
                    1280,
                    420
                ],
                [
                    860,
                    420
                ]
            ],
            "attributes": {
                "includes": "guardrail_right and cars_on_right and trees_right_line"
            }
        },
        {
            "name": "upcoming_intersection_zone",
            "type": "control_zone",
            "polygon_topdown_xy": [
                [
                    520,
                    420
                ],
                [
                    820,
                    420
                ],
                [
                    860,
                    320
                ],
                [
                    480,
                    320
                ]
            ],
            "attributes": {
                "includes": "traffic_signals_ahead"
            }
        }
    ],
    "semantic_relationships": [
        {
            "subject": "ego_vehicle",
            "relation": "driving_within",
            "object": "current_location"
        },
        {
            "subject": "ego_vehicle",
            "relation": "on_road",
            "object": "main_road"
        },
        {
            "subject": "lead_vehicle",
            "relation": "ahead_of",
            "object": "ego_vehicle"
        },
        {
            "subject": "lead_vehicle",
            "relation": "in_lane_area",
            "object": "current_location"
        },
        {
            "subject": "road_lane_markings",
            "relation": "belongs_to",
            "object": "main_road"
        },
        {
            "subject": "guardrail_left",
            "relation": "along_side_of",
            "object": "left_side_corridor"
        },
        {
            "subject": "guardrail_right",
            "relation": "along_side_of",
            "object": "right_side_corridor"
        },
        {
            "subject": "fence_left",
            "relation": "adjacent_to",
            "object": "left_side_corridor"
        },
        {
            "subject": "pedestrian_building_area_left",
            "relation": "located_in",
            "object": "left_side_corridor"
        },
        {
            "subject": "trees_left_line",
            "relation": "located_in",
            "object": "left_side_corridor"
        },
        {
            "subject": "trees_right_line",
            "relation": "located_in",
            "object": "right_side_corridor"
        },
        {
            "subject": "cars_on_right",
            "relation": "located_in",
            "object": "right_side_corridor"
        },
        {
            "subject": "traffic_signals_ahead",
            "relation": "located_in",
            "object": "upcoming_intersection_zone"
        },
        {
            "subject": "current_location",
            "relation": "leads_toward",
            "object": "upcoming_intersection_zone"
        },
        {
            "subject": "current_location",
            "relation": "part_of",
            "object": "main_road"
        }
    ],
    "navigation_hypotheses": {
        "current_location": "current_location",
        "plans": [
            {
                "plan_id": "proceed_forward",
                "from": "current_location",
                "to": "upcoming_intersection_zone",
                "expected_action": "continue_straight"
            }
        ]
    }
}