Feature: Handle cut-in from vehicle starting from roadside#
This feature ensures that the ego vehicle can safely handle a vehicle that starts moving from the roadside as the ego approaches.
Scenario Outline: Roadside vehicle starts moving as ego approaches#
Confirm that the vehicle safely handles a vehicle starting from the roadside and cutting in.
- Given Ego is driving at
- And Npc0 is stopping side of the road
- When Npc0 cuts into the ego's lane at
if the longitudinal distance is under - Then Ego reaches the destination without collisions
- And Ego does not decelerate at a rate below
Examples#
| vx_npc0 | vxi_ego | d_trigger_npc0 | w | amin_ego |
|---|---|---|---|---|
| 8 km/h | 15 km/h | 7.0 m | 3.0 m | -2.499 m/s^2 |