Feature: Maintain safe distance from preceding vehicle#
Ensures that ego is able to keep a safe distance from a preceding vehicle under different scenarios. This is required to provide ego with enough time to react to sudden changes in movement of the preceding vehicle, or other traffic participants ahead.
Scenario Outline: Maintain safe distance from preceding vehicle that drives slower than ego#
Confirm that ego is able to adjust its speed such as to maintain a safe distance from a preceding vehicle that drives at a constant speed slower than itself.
- Given Ego is driving at
- And Npc0 is positioned ahead of ego, in the same driving lane
- And Npc0 is driving at
, smaller than
- When Ego approaches Npc0 up to a safe distance
- Then Ego starts decelerating with rate no faster than
- And Ego matches the speed of Npc0,
- And Ego drives continuously at all times
- And Ego drives safely with no collisions at all times
Examples:#
| 20 km/h | 15 km/h | -1.5 m/s^2 |
| 30 km/h | 20 km/h | -1.5 m/s^2 |
| 40 km/h | 25 km/h | -1.5 m/s^2 |
Scenario Outline: Maintain safe distance from preceding vehicle that is decelerating partially#
Confirm that ego is able to continuously adjust its speed such as to maintain a safe distance from a preceding vehicle that is decelerating.
- Given Ego is driving at
- And Npc0 is positioned ahead of ego, in the same driving lane
- And Npc0 is driving at
, smaller than
- When Ego approaches Npc0 up to a safe distance
- Then Ego decelerates to match the speed of Npc0,
- When Npc0 further decelerates to
at a rate of - Then Ego further decelerates to match the speed of Npc0,
- And Ego drives continuously at all times
- And Ego keeps its deceleration rate slower than
at all times - And Ego drives safely with no collisions at all times
Examples:#
| 20 km/h | 15 km/h | -1.5 m/s^2 | 10 km/h | -1.0 m/s^2 |
| 30 km/h | 20 km/h | -1.5 m/s^2 | 12 km/h | -1.0 m/s^2 |
| 40 km/h | 25 km/h | -1.5 m/s^2 | 15 km/h | -1.0 m/s^2 |
Scenario Outline: Maintain safe distance from preceding vehicle that is decelerating completely#
Confirm that ego is able to continuously adjust its speed such as to maintain a safe distance from a preceding vehicle that decelerates to a standstill.
- Given Ego is driving at
- And Npc0 is positioned ahead of ego, in the same driving lane
- And Npc0 is driving at
, smaller than
- When Ego approaches Npc0 up to a safe distance
- Then Ego decelerates to match the speed of Npc0,
- When Npc0 further decelerates to a standstill at a rate of
- Then Ego further decelerates to a standstill
- And Ego keeps its deceleration rate slower than
at all times - And Ego drives safely with no collisions at all times
Examples:#
| 20 km/h | 15 km/h | -1.5 m/s^2 | -1.0 m/s^2 |
| 30 km/h | 20 km/h | -1.5 m/s^2 | -1.0 m/s^2 |
| 40 km/h | 25 km/h | -1.5 m/s^2 | -1.0 m/s^2 |
Scenario Outline: Stop safely when detecting a preceding standstill vehicle#
Confirm that ego is able to stop safely when a stopped vehicle is detected ahead of ego.
- Given Ego is driving at
- And Npc0 is
ahead of ego, in the same driving lane - And Npc0 is in standstill
- When Ego approaches Npc0
- Then Ego starts decelerating with rate no faster than
- And Ego reaches standstill
- And Ego drives safely with no collisions at all times
Examples:#
| 90 km/h | 150 m | -1.5 m/s^2 |
| 100 km/h | 150 m | -1.5 m/s^2 |
| 110 km/h | 150 m | -1.5 m/s^2 |