Feature: Handle cut-in from a faster vehicle that then slows down#
This feature ensures that the ego vehicle can safely handle a cut-in from another vehicle that is moving at a higher speed and then decelerates.
Scenario Outline: Cut-in from a faster vehicle that decelerates after lane change#
Confirm that the vehicle safely handles a cut-in from a faster vehicle that then decelerates.
- Given Ego is driving at
- And Npc0 is in a neighbor lane behind Ego, driving at
- When Npc0 overtakes Ego and performs a lane change to cut in front of Ego at a distance of
- And Npc0 decelerates to
with acceleration - Then Ego reaches the destination without collision
- And Ego does not decelerate at a rate below
- And Ego velocity does not fall below 80% of
after Npc0 slows down
Examples#
| vxi_npc0 | vxi_ego | vx_target_slow_npc0 | a_slow_npc0 | d_lc_npc0 | w | amin_ego |
|---|---|---|---|---|---|---|
| 20 km/h | 15 km/h | 10 km/h | -1.0 m/s^2 | 1.0 m | 3.0 m | -2.499 m/s^2 |
| 20 km/h | 15 km/h | 12.5 km/h | -1.0 m/s^2 | 1.0 m | 3.0 m | -2.499 m/s^2 |
| 20 km/h | 15 km/h | 15 km/h | -1.0 m/s^2 | 1.0 m | 3.0 m | -2.499 m/s^2 |