Feature: Maintain safe distance from hidden vehicle slowing down#
Ensures that ego is able to keep a safe distance from a slowing vehicle that is initially obstructed from ego's perception by another preceding vehicle. This is required to provide ego with the ability to quickly react to objects detected suddenly.
Scenario Outline: Maintain safe distance from hidden vehicle slowing down when preceding vehicle cuts out to the left#
Confirm that ego is able to adjust its speed such as to maintain a safe distance from a decelerating vehicle that is initially hidden by a preceding vehicle, when the preceding vehicle cuts out from ego lane to the left.
- Given Ego is driving at
- And Npc0 is positioned ahead of ego, in the same lane
- And Npc0 is driving at a speed
, slower than ego - And Npc1 is positioned
ahead of Npc0, in the same lane - And Npc1 is driving at the same speed as Npc0,
- When Ego approaches Npc0 longitudinally, to within
- And later Npc0 cuts out from the ego lane to the left, within a time span of
- And Npc1 decelerates down to
at a rate of - Then Ego starts decelerating to match the speed of Npc1,
- 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 | 15 m | 5 km/h | -1 m/s^2 | 4 s | -1.5 m/s^2 |
| 30 km/h | 20 km/h | 15 m | 15 m | 10 km/h | -1 m/s^2 | 4 s | -1.5 m/s^2 |
| 40 km/h | 25 km/h | 15 m | 15 m | 15 km/h | -1 m/s^2 | 4 s | -1.5 m/s^2 |
Scenario Outline: Maintain safe distance from hidden vehicle slowing down when preceding vehicle cuts out to the right#
Confirm that ego is able to adjust its speed such as to maintain a safe distance from a decelerating vehicle that is initially hidden by a preceding vehicle, when the preceding vehicle cuts out from ego lane to the right.
- Given Ego is driving at
- And Npc0 is positioned ahead of ego, in the same lane
- And Npc0 is driving at a speed
, slower than ego - And Npc1 is positioned
ahead of Npc0, in the same lane - And Npc1 is driving at the same speed as Npc0,
- When Ego approaches Npc0 longitudinally, to within
- And later Npc0 cuts out from the ego lane to the right, within a time span of
- And Npc1 decelerates down to
at a rate of - Then Ego starts decelerating to match the speed of Npc1,
- 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 | 15 m | 5 km/h | -1 m/s^2 | 4 s | -1.5 m/s^2 |
| 30 km/h | 20 km/h | 15 m | 15 m | 10 km/h | -1 m/s^2 | 4 s | -1.5 m/s^2 |
| 40 km/h | 25 km/h | 15 m | 15 m | 15 km/h | -1 m/s^2 | 4 s | -1.5 m/s^2 |