Feature: Emergency braking against vehicles#
Ensures that ego is able to fully stop when faced with a situation of imminent collision with another vehicle. This is required to provide a safety measure for sudden unpredicted changes in the driving environment.
Scenario Outline: Stop safely when a stopped vehicle is uncovered after the preceding vehicle cuts out to the left#
Confirm that ego is able to stop safely when the preceding vehicle cuts out of ego's lane revealing a stopped vehicle ahead.
- 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 in standstill
- When Ego approaches Npc0 longitudinally, to within
- And later Npc0 cuts out from the ego lane to the left, within a time span of
- Then Ego starts decelerating
- And Ego reaches standstill
- And Ego keeps its deceleration rate slower than
at all times - And Ego drives safely with no collisions at all times
Examples:#
| 90 km/h | 80 km/h | 40 m | 333 m | 20 m | 4 s | -5.0 m/s^2 |
| 100 km/h | 80 km/h | 70 m | 333 m | 20 m | 4 s | -5.0 m/s^2 |
| 110 km/h | 80 km/h | 100 m | 333 m | 20 m | 4 s | -5.0 m/s^2 |
Scenario Outline: Stop safely when a stopped vehicle is uncovered after the preceding vehicle cuts out to the right#
Confirm that ego is able to stop safely when the preceding vehicle cuts out of ego's lane revealing a stopped vehicle ahead.
- 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 in standstill
- When Ego approaches Npc0 longitudinally, to within
- And later Npc0 cuts out from the ego lane to the right, within a time span of
- Then Ego starts decelerating
- And Ego reaches standstill
- And Ego keeps its deceleration rate slower than
at all times - And Ego drives safely with no collisions at all times
Examples:#
| 90 km/h | 80 km/h | 40 m | 333 m | 20 m | 4 s | -5.0 m/s^2 |
| 100 km/h | 80 km/h | 70 m | 333 m | 20 m | 4 s | -5.0 m/s^2 |
| 110 km/h | 80 km/h | 100 m | 333 m | 20 m | 4 s | -5.0 m/s^2 |