Feature: Overtake the ego outside of the Lanelet#
To ensure the ADS can safely handle being overtaken while stationary, the Ego vehicle must wait for the maneuver to complete before departing.
Scenario Outline: Overtake from left side#
Confirm the vehicle avoids a collision when another vehicle overtakes from the left.
- Given Ego is in standstill
- And Car0 is positioned behind Ego, in the same driving lane
- And Car0 is driving at
towards Ego - When Car0 reaches a position at distance
behind Ego - And Car0 starts overtaking Ego
- Then Ego remains standstill
- When Car0 reaches a position
ahead of Ego - And Car0 finishes the overtake maneuver
- Then Ego starts driving
- And Ego reaches the destination without collision
- And Ego does not decelerate at a rate below
during driving
Examples#
| vx_car0 | dr | df | overtake_offset | amin_ego |
|---|---|---|---|---|
| 10 km/h | 7.0 m | 5.0 m | 2.5 m | -1.5 m/s^2 |
| 15 km/h | 7.0 m | 5.0 m | 2.5 m | -1.5 m/s^2 |
| 20 km/h | 7.0 m | 5.0 m | 2.5 m | -1.5 m/s^2 |