Feature: [Turning right in intersection without traffic lights] Handle oncoming lane vehicle driving straight at intersection#
This feature ensures that ego can safely turn right at an intersection while an oncoming vehicle is approaching.
Scenario Outline: Vehicle from oncoming lane drives straight at the intersection ahead of ego (LHT)#
Confirm that ego safely performs a right turn at an intersection with oncoming traffic.
- Given Ego is driving at a constant speed
- And Ego is approaching an intersection where it intends to turn right
- And Npc0 is stopped on the oncoming traffic lane, positioned on the opposite side of the intersection from Ego
- When Ego is
before the intersection - And Npc0 starts to drive with acceleration
and target speed - Then Ego slows down
- When Npc0 clears Ego's path
- Then Ego resumes driving and completes the right turn
- And Ego drives safely with no collisions at all times
- And Ego does not decelerate at a rate below
at all times
Examples#
| vxi_ego | d_to_intersection | vx_npc0 | ax_npc0 | amin_ego |
|---|---|---|---|---|
| 15 km/h | 10 m | 20 km/h | 1.5 m/s^2 | -1.5 m/s^2 |