Feature: Wait for an overtake from same direction lane while stationary#
Ensures the vehicle's safety when another car overtakes it at high speed while stationary. The vehicle waits until the high-speed overtake maneuver is complete before departing.
Scenario Outline: Overtake from left or right side#
Confirm that the vehicle waits for a high-speed overtake in the same direction lane to complete before departing.
- Given Ego is in standstill
- And Npc0 is positioned behind Ego, in the same driving lane
- And Npc0 is driving at
towards Ego - When Npc0 reaches a position at distance
behind Ego - And Npc0 starts overtaking Ego by using the same direction lane
- Then Ego remains standstill
- When Npc0 reaches position
ahead of Ego - And Npc0 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: Npc overtakes through left lane#
| vxi_npc0 | dr | df | overtake_offset | w | amin_ego |
|---|---|---|---|---|---|
| 20 km/h | 7.0 m | 5.0 m | 2.5 m | 3.0 m | -1.5 m/s^2 |
| 30 km/h | 7.0 m | 5.0 m | 2.5 m | 3.0 m | -1.5 m/s^2 |
| 40 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 |
|---|---|---|---|---|---|
| 20 km/h | 7.0 m | 5.0 m | -2.5 m | 3.0 m | -1.5 m/s^2 |
| 30 km/h | 7.0 m | 5.0 m | -2.5 m | 3.0 m | -1.5 m/s^2 |
| 40 km/h | 7.0 m | 5.0 m | -2.5 m | 3.0 m | -1.5 m/s^2 |