Feature: Wait for overtaking vehicle to clear off the ego lane#
Ensures the vehicle can safely wait for an oncoming vehicle to clear from the ego lane before proceeding.
Scenario Outline: Wait for an oncoming vehicle that veers into Ego's lane to overtake a parked vehicle and clear off the lane#
Confirm that the vehicle successfully waits until the overtaking vehicle has left the lane when overtaking a vehicle parked in the opposite side.
- Given Ego is driving at
- And Npc0 is parked in the neighboring oncoming lane, in the opposite side of the road
- And Npc1 is driving in the oncoming lane, at a position further from Ego than Npc0
- When the longitudinal distance between Npc0 and Ego is below
- And Npc1 starts to overtake Npc0 with velocity
- Then Ego decelerates to a full stop leaving enough margin for Npc1 to pass
- When Npc1 completes the overtake and returns to the oncoming lane
- Then Ego resumes driving
- 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#
| vxi_npc0 | vx_npc1 | vxi_ego | d_trigger | d_dec | w | amin_ego |
|---|---|---|---|---|---|---|
| 0 km/h | 15 km/h | 15 km/h | 50 m | 5.0 m | 3.0 m | -2.499 m/s^2 |
| 0 km/h | 15 km/h | 15 km/h | 50 m | 5.0 m | 3.0 m | -2.499 m/s^2 |
| 0 km/h | 15 km/h | 15 km/h | 50 m | 5.0 m | 3.0 m | -2.499 m/s^2 |