Feature: Depart while being overtaken#
Defines the vehicle's ability to safely depart while a slower vehicle is overtaking. This allows for efficient driving by avoiding unnecessary waiting when a safe opportunity exists.
Scenario Outline: Depart during overtake maneuver#
Confirm that the vehicle departs during an overtake maneuver by a slower vehicle.
- Given Ego is in standstill
- And Npc0 is positioned behind Ego, in the same driving lane
- And Npc0 is approaching with relatively low velocity
- When Npc0 starts overtaking Ego from distance
- Then Ego departs for destination before Npc0's overtake maneuver is over
- And Ego reaches the destination without collision
- And Ego does not decelerate at a rate below
during driving
Examples: Left side overtake#
| vxi_npc0 | dr | df | overtake_offset | w | amin_ego |
|---|---|---|---|---|---|
| 5 km/h | 7.0 m | 5.0 m | 2.5 m | 3.0 m | -1.5 m/s^2 |
Examples: Right side overtake#
| vxi_npc0 | dr | df | overtake_offset | w | amin_ego |
|---|---|---|---|---|---|
| 5 km/h | 7.0 m | 5.0 m | -2.5 m | 3.0 m | -1.5 m/s^2 |