Feature: Maintain safe distance from cutting-in vehicle#
Ensures that ego is able to keep a safe distance from a vehicle that cuts in ahead of ego, under different scenarios. This is required to provide ego with enough time to react to sudden changes in movement of the cutting-in vehicle, or other traffic participants ahead.
Scenario Outline: Maintain safe distance from slower vehicle cutting-in from the left#
Confirm that ego is able to adjust its speed such as to maintain a safe distance from a vehicle that cuts in from the left with a constant speed that is slower than itself.
- Given Ego is driving at
- And Npc0 is positioned ahead of ego, in the neighboring left lane
- And Npc0 is driving at
, smaller than , in the same direction
- When Ego approaches Npc0 longitudinally, to within
- And later Npc0 cuts into the ego lane within a time span of
- Then Ego starts decelerating 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 | 15 m | 4 s | -1.5 m/s^2 |
| 30 km/h | 20 km/h | 15 m | 4 s | -1.5 m/s^2 |
| 40 km/h | 25 km/h | 15 m | 4 s | -1.5 m/s^2 |
Scenario Outline: Maintain safe distance from slower vehicle cutting-in from the right#
Confirm that ego is able to adjust its speed such as to maintain a safe distance from a vehicle that cuts in from the right with a constant speed that is slower than itself.
- Given Ego is driving at
- And Npc0 is positioned ahead of ego, in the neighboring right lane
- And Npc0 is driving at
, smaller than , in the same direction
- When Ego approaches Npc0 longitudinally, to within
- And later Npc0 cuts into the ego lane within a time span of
- Then Ego starts decelerating 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 | 15 m | 4 s | -1.5 m/s^2 |
| 30 km/h | 20 km/h | 15 m | 4 s | -1.5 m/s^2 |
| 40 km/h | 25 km/h | 15 m | 4 s | -1.5 m/s^2 |