Cut-in¶

A vehicle in the next lane, 10 m ahead of the ego, changes into the ego's lane 2 s into the run. The ego must not hit it -- on every lane with a lane on that side.

# Every case on the map, one run each
uv run scenario --multirun hydra/sweeper=lanelet_constraint \
    scenario=cut_in/left map=<map>

Scenario¶


Ego	Constraint search: a lane with a lane on the cut-in side, not in a junction, at least 60 m long, excluding the map's lanelets with no 3D model. 5 m along it, 30 km/h.
NPC1	Beside the matched lanelet, on the cut-in side: the lane next to the ego's. 15 m along it, 30 km/h.
Initialization	Every traffic light green.
NPC1, after 2 s	Change lane towards the ego.
Pass	3 s have passed since NPC1 reached the ego's OpenDRIVE lane (lane of a position: the matched lanelet at the ego's spawn, the same lane), with no collision.
Fail	The ego hits NPC1, or 20 s pass.

Variants¶

From the leftFrom the right

Cut-in from the left in the Scenario Editor

scenario=cut_in/left -- a lane on the ego's left; NPC1 changes right.

Town10HD_Opt, the first case: the search matched lanelet 324, where the ego starts; NPC1 starts beside it on lanelet 446. Result: PASSED.

Cut-in from the right in the Scenario Editor

scenario=cut_in/right -- a lane on the ego's right; NPC1 changes left.

Town10HD_Opt, the first case: the search matched lanelet 446, where the ego starts; NPC1 starts beside it on lanelet 324. Result: PASSED.

Parameters¶

Parameter	Value
NPC1 ahead of the ego	10 m (at s = 15 m)
NPC1 and ego initial speed	30 km/h
Cut-in after	2 s
Held in the ego's lane for	3 s
Lanelet at least	60 m
Timeout	20 s