Feature: Maintain safe distance from preceding motorcycle#
Ensures that ego is able to keep a safe distance from a preceding motorcycle under different scenarios. This is required to provide ego with enough time to react to sudden changes in movement of the preceding motorcycle, or other traffic participants ahead.
Scenario Outline: Maintain safe distance from preceding motorcycle that drives slower than ego#
Confirm that ego is able to adjust its speed such as to maintain a safe distance from a preceding motorcycle that drives at a constant speed slower than itself.
- Given Ego is driving at
- And Motorbike0 is positioned ahead of ego, in the same driving lane
- And Motorbike0 is driving at
, smaller than
- When Ego approaches Motorbike0 up to a safe distance
- Then Ego starts decelerating with rate no faster than
- And Ego matches the speed of Motorbike0,
- 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 motorcycle that is decelerating partially#
Confirm that ego is able to continuously adjust its speed such as to maintain a safe distance from a preceding motorcycle that is decelerating.
- Given Ego is driving at
- And Motorbike0 is positioned ahead of ego, in the same driving lane
- And Motorbike0 is driving at
, smaller than
- When Ego approaches Motorbike0 up to a safe distance
- Then Ego decelerates to match the speed of Motorbike0,
- When Motorbike0 further decelerates to
at a rate of - Then Ego further decelerates to match the speed of Motorbike0,
- 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 motorcycle that is decelerating completely#
Confirm that ego is able to continuously adjust its speed such as to maintain a safe distance from a preceding motorcycle that decelerates to a standstill.
- Given Ego is driving at
- And Motorbike0 is positioned ahead of ego, in the same driving lane
- And Motorbike0 is driving at
, smaller than
- When Ego approaches Motorbike0 up to a safe distance
- Then Ego decelerates to match the speed of Motorbike0,
- When Motorbike0 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 motorcycle#
Confirm that ego is able to stop safely when a stopped motorcycle is detected ahead of ego.
- Given Ego is driving at
- And Motorbike0 is
ahead of ego, in the same driving lane - And Motorbike0 is in standstill
- When Ego approaches Motorbike0
- 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 |