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Feature: Maintain driving speed according to regulation#

Ensures that ego is able to limit its driving speed based on the road regulations. This is required for ego to follow the law.

Scenario Outline: Update driving speed when a entering a lower speed limit section#

Confirm that ego is able to adjust its speed before entering the new regulation area and avoid law infringements.

  • Given a road section with speed limit
  • And Ego is driving at a velocity , smaller or equal to
  • When Ego approaches a road area with new speed limitation , below the current ego speed
  • Then Ego starts decelerating to match the new speed limit
  • And Ego drives continuously at all times
  • And Ego keeps its deceleration rate slower than at all times

Overview

Examples:#
70 km/h 70 km/h 60 km/h -1.5 m/s^2
90 km/h 100 km/h 80 km/h -1.5 m/s^2
100 km/h 110 km/h 80 km/h -1.5 m/s^2

Scenario Outline: Update driving speed when a entering a higher speed limit section#

Confirm that ego is able to adjust its speed when entering the new regulation area

  • Given a road section with speed limit
  • And Ego is driving at a velocity restricted to
  • When Ego approaches a road area with new speed limitation , higher than the current one
  • Then Ego starts accelerating to match the lowest value between the new speed limit and Ego's intended driving speed
  • And Ego drives continuously at all times

Overview

Examples:#
90 km/h 70 km/h 80 km/h
110 km/h 80 km/h 120 km/h
120 km/h 110 km/h 120 km/h