Feature: Overtake the stopped or slow-moving vehicles in side of the road with oncoming traffic#
Ensures that Ego can safely overtake a parked vehicle, or a slow-moving vehicle in the presence of oncoming traffic on the same lane.
Scenario Outline: Overtake stopped vehicle on roadside while an oncoming vehicle starts moving#
Confirm that the vehicle successfully makes a decision to either overtake or wait when encountering a parked vehicle and an oncoming vehicle that starts moving.
- 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 Npc1 - And Npc1 is facing the opposite direction from Ego
- When the longitudinal distance between Ego and Npc0 is below
- And Npc1 starts to drive with velocity
- Then Ego starts overtaking Npc0 or waits for Npc1 to pass
- And Ego overtakes Npc0
- And Ego reaches the destination
- And Ego drives safely with no collision at all times
- And Ego does not decelerate at a rate below
at all times
Examples: Stopped on the right and left side#
| vxi_npc0 | vx_npc1 | vxi_ego | d_trigger | d_npc0_npc1 | parking_offset | w | amin_ego |
|---|---|---|---|---|---|---|---|
| 0 km/h | 5 km/h | 15 km/h | 7.0 m | 25 m | 2.3 m | 4.0 m | -2.499 m/s^2 |
| 0 km/h | 10 km/h | 15 km/h | 7.0 m | 25 m | 2.3 m | 4.0 m | -2.499 m/s^2 |
| 0 km/h | 15 km/h | 15 km/h | 7.0 m | 25 m | 2.3 m | 4.0 m | -2.499 m/s^2 |
Examples: Stopped on the left and right side#
| vxi_npc0 | vx_npc1 | vxi_ego | d_trigger | d_npc0_npc1 | parking_offset | w | amin_ego |
|---|---|---|---|---|---|---|---|
| 0 km/h | 5 km/h | 15 km/h | 7.0 m | 25 m | -2.3 m | 4.0 m | -2.499 m/s^2 |
| 0 km/h | 10 km/h | 15 km/h | 7.0 m | 25 m | -2.3 m | 4.0 m | -2.499 m/s^2 |
| 0 km/h | 15 km/h | 15 km/h | 7.0 m | 25 m | -2.3 m | 4.0 m | -2.499 m/s^2 |