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Feature: Automatic emergency brake trigger against preceding standstill obstacle#

This feature ensures that the ADS is able to prevent collisions when static obstacles are detected on Ego's lane sufficiently ahead of time.

Scenario Outline: Standing pedestrian on flat, straight road#

Confirm that vehicle avoids a collision when a pedestrian is stopped on the road.

  • Given Ego drives at , centered on its lane
  • And Pedestrian0 is standing still on the same lane as Ego, at a distance of
  • When Ego gets close to Pedestrian0
  • Then Ego starts decelerating to a full stop
  • When Pedestrian0 moves completely out of Ego's lane
  • Then Ego resumes driving
  • And Ego reaches the goal position
  • And Ego drives with no collisions at all times
  • And Ego keeps its acceleration above at all times

Description

Examples#

vxi_ego dxi_ego_pedestrian0 amin_ego
20 km/h 15.0 m -6.0 m/s^2
30 km/h 30.0 m -6.0 m/s^2
35 km/h 50.0 m -6.0 m/s^2