Feature: Handle cut-in from a faster vehicle#
This feature ensures that the ego vehicle can safely handle a cut-in from another vehicle that is moving at a higher speed.
Scenario Outline: Cut-in from outside of the lane#
Confirm that the ego vehicle does not slow down when a faster vehicle cuts in.
- Given Ego is driving at
- And Npc0 is in a neighbor lane behind Ego, driving at
- When Npc0 overtakes Ego with
which is greater than - And Npc0 performs a lane change to cut in front of Ego at a distance of
from Ego - Then Ego reaches the destination without collision
- And Ego does not decelerate at a rate below
after Npc0 changed lane
Examples#
| vxi_npc0 | vxi_ego | d_lc_npc0 | w | amin_ego |
|---|---|---|---|---|
| 18 km/h | 15 km/h | 1.0 m | 3.0 m | -0.05 m/s^2 |
| 20 km/h | 15 km/h | 1.0 m | 3.0 m | -0.05 m/s^2 |
| 30 km/h | 15 km/h | 1.0 m | 3.0 m | -0.05 m/s^2 |