Straight Highway Scenes

Are there any scenes in which the ego vehicle travels in a straight line with no turns? If so can be know the scene number.

Additionally, is there a way to figure out about this?

Hi. There are many such scenes. The fastest may be to watch some videos on Youtube and then manually pick one:
You can also work with the ego pose to automatically compute the curvature of a scene.

The CAN bus tutorial ( shows you how to plot the ego poses and the baseline route (navigation path) for a particular scene: