Temporary Stop

The ego starts at a standstill 15 m short of a stop line that no traffic light governs -- a stop sign's. It has to stop at the line and then go again -- on every such stop line of the map.

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

In the Scenario Editor

Scenario

Ego	Constraint search: a lanelet with a stop line that is not a traffic light's, excluding the map's lanelets with no 3D model. Position before stop line: 15 m short of it, on the lanelet before when the line is nearer its lanelet's start than that. Goal from the search: the lanelet after the matched one, past the line.
Initialization	Every traffic light green.
Pass	The ego has made a temporary stop -- under 0.1 m/s for 0.3 s within 5 m of a stop line -- and is moving at 3 km/h again. The stop lines are read off the map, from the lanelet the ego starts on and up to three after it (lanelet before the stop line, from the search).
Fail	12 s pass.

Parameters

Parameter	Value
Spawn	15 m before the stop line
Ego initial speed	0 km/h
Stopped below	0.1 m/s
Held for	0.3 s
Within	5 m of the stop line
Restart speed	3 km/h
Stop lines searched	the spawn lanelet and 3 lanelets on
Timeout	12 s

Result

Town10HD_Opt, the first case: the search matched lanelet 5164 and the ego starts on lanelet 3095, 39.0 m along it. Result: PASSED.