Feature: Overtake the stopping or low velocity vehicle#
Ensures the vehicle can safely overtake a stationary or slow-moving vehicle on the side of the road.
Scenario Outline: Vehicle is stopped on the roadside#
Confirm that ego successfully overtakes the vehicle and reaches the destination safely.
- Given Ego is driving at
- And Npc0 is positioned on the side of the same lane
- And Npc0 is driving in the same direction as Ego with velocity
- When Ego approaches Npc0
- Then Ego overtake Npc0
- And Ego reaches the destination
- And Ego drives safely with no collisions at all times
- And Ego does not decelerate at a rate below
at all times
Examples: Stopped on the right side#
| vxi_npc0 | vxi_ego | d_npc | parking_offset | w | amin_ego |
|---|---|---|---|---|---|
| 0 km/h | 15 km/h | 35 m | 2.5 m | 4.0 m | -2.499 m/s^2 |
| 5 km/h | 15 km/h | 35 m | 2.5 m | 4.0 m | -2.499 m/s^2 |
| 10 km/h | 15 km/h | 35 m | 2.5 m | 4.0 m | -2.499 m/s^2 |
Examples: Stopped on the left side#
| vxi_npc0 | vxi_ego | d_npc | parking_offset | w | amin_ego |
|---|---|---|---|---|---|
| 0 km/h | 15 km/h | 35 m | -2.5 m | 4.0 m | -2.499 m/s^2 |
| 5 km/h | 15 km/h | 35 m | -2.5 m | 4.0 m | -2.499 m/s^2 |
| 10 km/h | 15 km/h | 35 m | -2.5 m | 4.0 m | -2.499 m/s^2 |