Car Following

ALPHA

Work In Progress

Action IDs

01: Sudden stop
02: Stop and go
03: Actor cuts in
04: Actor cuts out
05: Breaks speed limit

Follow lead vehicle

2-2-XX-CF-STR-CAR

Ego follows lead vehicle that is going X speed

ARegular ACCScenario
Lead vehicle drives ahead of Ego.

Expected Result
Ego follows lead vehicle while maintaining minimum following distance and never exceeds speed limit.

Follow lead vehicle that suddenly stops

2-2-XX-CF-STR-CAR:01

Ego follows lead vehicle that is going X speed that suddenly stops

AACC with sudden stopScenario
Lead vehicle drives ahead of Ego.

Expected Result
Ego follows lead vehicle while maintaining minimum following distance and never exceeds speed limit.
BACC with sudden stopScenario
Lead vehicle suddenly comes to a full stop.

Expected Result
Ego stops behind lead vehicle.
CACC with sudden stopScenario complete 🎉

Follow lead vehicle that is stopping and going

2-2-XX-CF-STR-CAR:02

Ego follows lead vehicle that is stopping and going

AACC with stopping and goingScenario
Lead vehicle drives ahead of Ego.

Expected Result
Ego follows lead vehicle while maintaining minimum following distance and never exceeds speed limit.
BACC with stopping and goingScenario
Lead vehicle comes to a stop.

Expected Result
Ego stops behind lead vehicle.
CACC with stopping and goingScenario
Lead vehicle starts driving again, stopping and going periodically.

Expected Result
Ego follows lead vehicle while maintaining minimum 4 second following distance, never exceeds speed limit (even if the lead vehicle does,) and stops behind lead vehicle.

Lead vehicle cuts in

2-2-XX-CF-STR-CAR:Pa>E:03

A secondary vehicle cuts in ahead of Ego

AVehicle cut inScenario
Secondary vehicle cuts in ahead of Ego inside the safe following distance.

Expected Result
Ego slows down and follows lead vehicle.
BVehicle cut inScenario complete 🎉

Lead vehicle cuts out

2-2-XX-CF-STR-CAR:E>Pa:04

Lead vehicle cuts out of Ego’s lane of travel

AVehicle cut outScenario
Lead vehicle drives ahead of Ego.

Expected Result
Ego follows lead vehicle while maintaining minimum 4 second following distance and never exceeds speed limit.
BVehicle cut outScenario
Lead vehicle cuts out of Ego’s lane of travel.

Expected Result
Ego continues traveling in lane of travel.
CVehicle cut outScenario complete 🎉

Lead vehicle breaks speed limit

2-2-XX-CF-STR-CAR:05

Lead vehicle speeds away and breaks speed limit

AVehicle breaks speed limitScenario
Lead vehicle drives ahead of Ego.

Expected Result
Ego follows lead vehicle while maintaining minimum 4 second following distance and never exceeds speed limit.
BVehicle breaks speed limitScenario
Lead vehicle accelerates and drives over the speed limit.

Expected Result
Ego continues driving but does not surpass speed limit
CVehicle breaks speed limitScenario complete 🎉