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Feature: Overtake the vehicles in side of the road#

Ensures the vehicle can safely navigate between parked vehicles on different sides of the road.

Scenario Outline: Vehicles are stopped on both sides of the road#

Confirm that the vehicle successfully passes between two parked vehicles on different sides of the road and reaches the destination safely.

  • Given Ego is driving at
  • And Npc0 is parked on one side of the same lane
  • And Npc1 is parked on the other side of the same lane, ahead of Npc0
  • When Ego approaches the parked vehicles
  • Then Ego navigates between Npc0 and Npc1
  • 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

Overview

Examples: Npc0 on the right side#

vxi_npc0 vxi_npc1 vxi_ego d_npc0_npc1 parking_offset w amin_ego
0 km/h 0 km/h 15 km/h 25 m 2.1 m 4.0 m -2.499 m/s^2
0 km/h 0 km/h 15 km/h 20 m 2.1 m 4.0 m -2.499 m/s^2
0 km/h 0 km/h 15 km/h 15 m 2.1 m 4.0 m -2.499 m/s^2

Examples: Npc0 on the left side#

vxi_npc0 vxi_npc1 vxi_ego d_npc0_npc1 parking_offset w amin_ego
0 km/h 0 km/h 15 km/h 25 m -2.1 m 4.0 m -2.499 m/s^2
0 km/h 0 km/h 15 km/h 20 m -2.1 m 4.0 m -2.499 m/s^2
0 km/h 0 km/h 15 km/h 15 m -2.1 m 4.0 m -2.499 m/s^2