Intersections

ALPHA

Work In Progress

There are many combinations of intersection scenarios, and the expectation is that all combinations will be detailed as this project continues.

Action IDs

01: Ego has right of way
02: Actor has right of way
03: Ego has right of way, but actor takes it
04: Ego has right of way, but actor is blocking right of way

4-Way controlled intersection with no other vehicles

4-2-NESW-I-STR-XX

AI-01-AScenario
Ego approaches the intersection. There are no other vehicles.

Expected Result
Ego comes to a stop in front of the stopline.
BI-01-BScenario
n/a

Expected Result
Ego proceeds through the intersection.
CI-01-CScenario Complete 🎉

3-Way controlled intersection with another vehicle

3-2-ESW-I-STR-CAR:S>W:02

AI-02-AScenario
Ego approaches the intersection. Secondary vehicle approaches from South and stops.

Expected Result
Ego comes to a stop in front of the stopline.
BI-02-BScenario
Secondary vehicle turns left

Expected Result
Ego remains stopped.
CI-02-CScenario
Secondary vehicle clears the intersection.

Expected Result
Ego proceeds through the intersection.
DI-02-DScenario Complete 🎉

3-2-NSW-I-L-CAR:S>W:02

AI-05-AScenario
Ego approaches the intersection. Secondary vehicle approaches from South and stops first.

Expected Result
Ego comes to a stop in front of the stopline.
BI-05-BScenario
Secondary vehicle turns left

Expected Result
Ego remains stopped.
CI-05-CScenario
Secondary vehicle clears the intersection.

Expected Result
Ego proceeds through the intersection.
DI-05-DScenario Complete 🎉

3-2-NSW-I-L-CAR:S>W:01

AI-06-AScenario
Ego stops at the intersection. Secondary vehicle approaches from South but hasn’t reached stop line yet.

Expected Result
Ego begins to proceed through the intersection.
BI-06-BScenario
Secondary vehicle waits at the stop line.

Expected Result
Ego continues through intersection.
CI-06-CScenario Complete 🎉

3-2-NSW-I-L-CAR:S>N:03

AI-07-AScenario
Ego stops at the intersection. Secondary vehicle approaches from South but hasn’t reached stop line yet.

Expected Result
Ego begins to proceed through the intersection.
BI-07-BScenario
Secondary vehicle does not stop and starts to proceed through intersection.

Expected Result
Ego stops to yield to misbehaving secondary vehicle.
CI-07-CScenario
Secondary vehicle continues through intersection.

Expected Result
Ego remains stopped until secondary vehicle is out of intersection and proceeds.
DI-07-DScenario Complete 🎉

3-Way uncontrolled intersection with another vehicle

3-2-W-I-L-CAR:N>S

AI-03-AScenario
Ego approaches intersection. Secondary vehicle approaches from North and enters the intersection.

Expected Result
Ego comes to a stop in front of the stopline.
BI-03-BScenario
Secondary vehicle continues through the intersection.

Expected Result
Ego remains stopped.
CI-03-CScenario
Secondary vehicle clears the intersection.

Expected Result
Ego proceeds through the intersection (turns left).
DI-03-DScenario Complete 🎉

3-2-S-I-STR-CAR:S>W

AI-04-AScenario
Ego approaches intersection and it is clear. Secondary vehicle approaches from South and stops at intersection.

Expected Result
Ego proceeds through the intersection.
BI-04-BScenario Complete 🎉

3-2-S-I-STR-CAR:S>W:04

AI-08-AScenario
Ego approaches intersection and secondary vehicle is occupying intersection.

Expected Result
Ego stops for secondary vehicle and waits until intersection is clear.
BI-08-BScenario
Secondary vehicle clears intersection.

Expected Result
Ego proceeds through intersection.
BI-08-CScenario Complete 🎉