Feature: Emergency braking against pedestrians and animals#

Ensures that ego is able to fully stop when faced with a situation of imminent collision with a pedestrian or animal. This is required to provide a safety measure for sudden unpredicted changes in the driving environment.

Scenario Outline: Stop safely when a pedestrian jumps into ego's lane#

Confirm that ego is able to stop safely when a pedestrian jumps into the road ahead of ego, up to a certain degree.

Given Ego is driving at on the lane closest to a road edge
And Pedestrian0 is on the neighboring edge of the road, ahead of ego

When Ego approaches Pedestrian0 longitudinally, to within
And later Pedestrian0 enters the ego lane within the 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

Overview

Examples:#


90 km/h	100 m	4 s	-5.0 m/s^2
100 km/h	120 m	4 s	-5.0 m/s^2
110 km/h	150 m	4 s	-5.0 m/s^2

Scenario Outline: Stop safely when an animal jumps into ego's lane#

Confirm that ego is able to stop safely when an animal jumps into the road ahead of ego, up to a certain degree.

Given Ego is driving at on the lane closest to a road edge
And Animal0 is on the neighboring edge of the road, ahead of ego

When Ego approaches Animal0 longitudinally, to within
And later Animal0 enters the ego lane within the 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

Overview

Examples:#


90 km/h	100 m	4 s	-5.0 m/s^2
100 km/h	120 m	4 s	-5.0 m/s^2
110 km/h	150 m	4 s	-5.0 m/s^2