Feature: Longitudinal velocity control#
This feature ensures that the ADS is able to adjust its speed such as to keep a safe longitudinal distance from preceding moving vehicles.
Scenario Outline: Preceding vehicle partial deceleration on flat, straight road#
Confirm that the ADS is capable of keeping a safe distance from a preceding vehicle that decelerates partially.
- Given Ego drives at
, centered on its lane - And Npc0 drives on the same lane as Ego, 30 meters ahead of it
- And Npc0 drives slower than Ego, at a speed of
- When Ego gets close to Npc0
- Then Ego starts decelerating
- And Ego matches Npc0's longitudinal speed
- When Npc0 starts decelerating to
with a rate of - Then Ego starts decelerating further
- And Ego matches Npc0's longitudinal speed
- And Ego reaches the goal position
- And Ego drives continuously (no full stops) at all times
- And Ego drives with no collisions at all times
- And Ego keeps its acceleration above
at all times
Examples#
| vxi_ego | vxi_npc0 | vx_target_npc0 | ax_npc0 | amin_ego |
|---|---|---|---|---|
| 20 km/h | 10 km/h | 5 km/h | -1.5 m/s^2 | -1.5 m/s^2 |
| 30 km/h | 15 km/h | 7 km/h | -1.5 m/s^2 | -1.5 m/s^2 |
| 35 km/h | 20 km/h | 10 km/h | -1.5 m/s^2 | -1.5 m/s^2 |