Crosswalks

ALPHA

Work In Progress

Action IDs

01: Actor’s path will intersect with Ego’s crosswalk
02: Actor’s path will not intersect with Ego’s crosswalk
03: Static actor in crosswalk

Without pedestrian

2-2-XX-CW-STR-XX

Ego approaches crosswalk with no pedestrian

ACrosswalk without a pedestrianScenario
Ego approaches a crosswalk. There is no pedestrian.

Expected Result
Ego proceeds through the crosswalk.

Pedestrian already in crosswalk

2-2-XX-CW-STR-PED

Ego approaches crosswalk with a pedestrian in the crosswalk

ACrosswalk with a pedestrian-AScenario
Ego approaches a crosswalk. Pedestrian is in the crosswalk.

Expected Result
Ego comes to a stop in front of the crosswalk and remains stopped.
BCrosswalk with a pedestrian-BScenario
Pedestrian finishes crossing.

Expected Result
Ego proceeds through the crosswalk.
CCrosswalk with a pedestrian-CScenario complete 🎉

Single lane road with pedestrian

2-1-XX-CW-STR-PED:N>S:01

Ego approaches crosswalk on a single lane road with pedestrian

ASingle lane with a pedestrian-AScenario
Ego approaches a crosswalk. Pedestrian’s calculated trajectory will be in the crosswalk when Ego is predicted to arrive.

Expected Result
Ego comes to a stop in front of the crosswalk and remains stopped.
BSingle lane with a pedestrian-BScenario
Pedestrian finishes crossing.

Expected Result
Ego proceeds through the crosswalk.
CSingle lane with a pedestrian-CScenario complete 🎉

Undivided double lane road with pedestrian

2-2-XX-CW-STR-PED:N>S:01

Ego approaches crosswalk on an undivided double lane road with pedestrian

AUndivided double lane and a pedestrian-AScenario
Ego approaches a crosswalk. Pedestrian’s calculated trajectory will be in the crosswalk when Ego is predicted to arrive.

Expected Result
Ego comes to a stop in front of the crosswalk and remains stopped.
BUndivided double lane and a pedestrian-BScenario
Pedestrian finishes crossing.

Expected Result
Ego proceeds through the crosswalk.
CUndivided double lane and a pedestrian-CScenario complete 🎉

Divided road and pedestrian from right

2-2M-XX-CW-STR-PED:S>N:01

Ego approaches crosswalk on a divided road and a pedestrian approaches from the right

ADivided road and a pedestrian from right-AScenario
Ego approaches a crosswalk. Pedestrian’s calculated trajectory will be in the crosswalk when Ego is predicted to arrive.

Expected Result
Ego comes to a stop in front of the crosswalk and remains stopped.
BDivided road and a pedestrian from right-BScenario
Pedestrian exits crosswalk in Ego’s lane of travel (between the right hand side of the road and the median).

Expected Result
Ego proceeds through the crosswalk.
CDivided road and a pedestrian from right-CScenario complete 🎉

Divided road and pedestrian from left

2-2M-XX-CW-STR-PED:N>S:02

Ego approaches crosswalk on a divided road, and a pedestrian approaches from the left and remains left of the median

ADivided road and a pedestrian from left-AScenario
Ego approaches a crosswalk. Pedestrian starts crossing and remains left of the median.

Expected Result
Ego proceeds through the crosswalk if the pedestrian remains between left of the median (i.e remains in the crosswalk of the opposing lane).
BDivided road and a pedestrian from left-BScenario complete 🎉

2-2M-XX-CW-STR-PED:N>S:01

Ego approaches crosswalk on a divided road, and a pedestrian approaches from the left and has entered the median or vehicle’s lane of traffic

ADivided road and a pedestrian from left and now in lane-AScenario
Ego approaches a crosswalk. Pedestrian crosses and enters the median or Ego’s lane of traffic by the time Ego hits the crosswalk.

Expected Result
Ego comes to a stop in front of the crosswalk and remains stopped.
BDivided road and a pedestrian from left and now in lane-BScenario
Pedestrian exits crosswalk.

Expected Result
Ego proceeds through the crosswalk.
CDivided road and a pedestrian from left and now in lane-CScenario complete 🎉

2-2M-XX-CW-STR-PED:03

Ego approaches crosswalk on a divided road, and a pedestrian approaches from the left and waits in median and gives right of way to Ego

ADivided road and a pedestrian from left and giving right of way-AScenario
Ego approaches a crosswalk. Pedestrian crosses and enters the median or Ego’s lane of travel by the time Ego hits the crosswalk.

Expected Result
Ego comes to a stop in front of the crosswalk and remains stopped.
BDivided road and a pedestrian from left and giving right of way-BScenario
Pedestrian waits in the median and gives right of way to Ego

Expected Result
Ego waits X seconds with a static pedestrian and then proceeds through the crosswalk.
CDivided road and a pedestrian from left and giving right of way-CScenario complete 🎉

At multi-way stop

4-2-NESW-CW-R-PED:SE>SW

Ego approaches crosswalk at a 4 way stop and pedestrian is crossing in lane of travel

A4 way stop and pedestrian in lane-AScenario
Ego approaches a 4 way stop. Pedestrian is waiting to cross a crosswalk that intersects with Ego’s path of travel.

Expected Result
Ego uses turn signal if appropriate and comes to a stop behind the crosswalk and remains stopped.
B4 way stop and pedestrian in lane-BScenario
Pedestrian exits crosswalk.

Expected Result
Ego proceeds
C4 way stop and pedestrian in lane-CScenario complete 🎉

4-2-NESW-CW-STR-PED:SE>SW

Ego approaches crosswalk at a 4 way stop and pedestrian is not crossing in lane of travel

A4 way stop and pedestrian not in lane-AScenario
Ego approaches a 4 way stop. Pedestrian is waiting to cross over a crosswalk that does intersect with Ego’s path of travel.

Expected Result
Ego uses turn signal if appropriate and comes to a stop behind the crosswalk and remains stopped.
B4 way stop and pedestrian not in lane-BScenario
Pedestrian travels into a crosswalk that does not lie over a road in which Ego intends to proceed.

Expected Result
Ego proceeds after a few seconds
C4 way stop and pedestrian not in lane-CScenario complete 🎉

3-2-NSW-CW-R-PED:NW>SW

Ego approaches crosswalk at a 3 way stop and pedestrian is crossing in lane of travel

A3 way stop and pedestrian in lane-AScenario
Ego approaches a 3 way stop. Pedestrian is waiting to cross a crosswalk that intersects with Ego’s path of travel.

Expected Result
Ego uses turn signal if appropriate and comes to a stop behind the crosswalk and remains stopped.
B3 way stop and pedestrian in lane-BScenario
Pedestrian exits crosswalk.

Expected Result
Ego waits until the pedestrian is physically clear of the crosswalk and proceeds.
C3 way stop and pedestrian in lane-CScenario complete 🎉

3-2-NSW-CW-R-PED:NW>NE

Ego approaches crosswalk at a 3 way stop and pedestrian is not crossing in lane of travel

A3 way stop and pedestrian not in lane-AScenario
Ego approaches a 3 way stop. Pedestrian is waiting to cross over a crosswalk that does intersect with Ego’s path of travel.

Expected Result
Ego uses turn signal if appropriate and comes to a stop behind the crosswalk and remains stopped.
B3 way stop and pedestrian not in lane-BScenario
Pedestrian travels into a crosswalk that does not lie over a road in which Ego intends to proceed.

Expected Result
Ego proceeds after a few seconds
C3 way stop and pedestrian not in lane-CScenario complete 🎉