LEO-UC-A-06-00 -> Rear-to-Front Vehicle Crossover
Initial condition
- EGO is running at Ve. There is a motorcycle behind the EGO at Vn.
Action
- A motorcycle comes from the rear, overtakes EGO, and integrates into EGO's forward trajectory, positioning itself directly in front of EGO.
Success condition
- EGO does not sudden brake
- EGO reaches the destination
Failure condition
- Collide with NPC
Variables
- Ve: [30, 20, 10] km/h
- Vn: Ve * 1.2 km/h
- If the NPC was located behind the EGO and it should overtake the ego, the velocity of the NPC was limited.
-
EGO Velocity limited to 15 kph - NPC Should drive around 36 kph.
-
Scenario Simulator automatically slow downs the NPC speed.
Video:
limited_velocity.mp4
- Created multiple overlapped lanes to drive the NPC on them when it was behind the EGO as shown below:
- To be able to run NPC faster, I divided the lanes. NPC starts behind the vehicle, after it overtakes the EGO, it starts the lane change action. However, lane change action did not work.
Video:
For scenarios and maps: link