Feature: [Driving straight in intersection without traffic lights] Handle cut-in from oncoming lane vehicle turning at the intersection#
This feature ensures that ego can safely handle a vehicle that cuts into the ego's path at an intersection.
Scenario Outline: Vehicle from oncoming lane performs a right turn at the intersection ahead of ego (LHT)#
Confirm that ego allows the turning vehicle to pass first before driving through the intersection.
- Given Ego is driving at a constant velocity
- And Ego is approaching an intersection
- And Npc0 is on the oncoming traffic lane, positioned on the opposite side of the intersection from ego
- When Ego is
before the intersection - And Npc0 starts turning right into the intersection with speed
- Then Ego slows down
- When Npc0 clears Ego's path
- Then Ego resumes driving and drives past the intersection
- And Ego drives safely with no collisions at all times
- And Ego does not decelerate at a rate below
Examples#
| vxi_ego | d_to_intersection | vx_npc0 | amin_ego |
|---|---|---|---|
| 50 km/h | 40 m | 5 km/h | -3.0 m/s^2 |
| 40 km/h | 30 m | 5 km/h | -2.5 m/s^2 |