Pedestrian Dart-out

A pedestrian waits at the kerb 35 m ahead of the ego and runs out across its lane once the ego is within 20 m. The ego must not hit them -- on every lane at the right-hand edge of a road, where the pedestrian steps straight off the kerb into it.

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

In the Scenario Editor

Scenario

Ego	Constraint search: a lane with no lane on its right, not in a junction, at least 55 m long, excluding the map's lanelets with no 3D model. 5 m along it, 30 km/h. Goal from the search: 50 m along the matched lanelet, past the crossing.
Pedestrian	On the matched lanelet -- the ego's -- 40 m along it, 3 m to the right of its centre, turned 90° to face across the lane. A walker CARLA refuses inside the kerb is tried again higher up.
Initialization	Every traffic light green.
Pedestrian, once the ego is within 20 m	Walk straight ahead at 2 m/s.
Pass	The ego has come within 3 m of the point 50 m along its lane, 10 m past the crossing.
Fail	The ego hits the pedestrian, or 25 s pass.

Parameters

Parameter	Value
Pedestrian ahead of the ego	35 m (at s = 40 m)
Off the lane's centre	3 m to the right
Runs out when the ego is within	20 m
Walking speed	2 m/s
Passed once within 3 m of	10 m past the crossing (s = 50 m)
Ego initial speed	30 km/h
Timeout	25 s

Result

Town10HD_Opt, the first case: the search matched lanelet 324, where the ego starts. Result: PASSED.