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initial draft of base safety scenarios for the PoV Vision Pilot product
Signed-off-by: Diego Yabuki <diegoken.yabuki@tier4.jp>
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‎usecases/pov/README.md‎

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# Scenario Naming Pattern
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The scenarios for PoV are named following the pattern below:
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UC-[SCENARIO CATEGORY]-[SCENARIO SUB-CATEGORY]-[INCREMENTAL ID]
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Where:
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[SCENARIO CATEGORY] indicates the purpose of the test scenario. For now, one of the following values shall be used:
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- PLN: Planning critical scenario
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- CTL: Control critical scenario
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- PER: Perception critical scenario
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[SCENARIO SUB-CATEGORY] adopts different meanings depending on the main category.
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| SCENARIO CATEGORY | SCENARIO SUB-CATEGORY |
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| ----------------------------- | --------------------- |
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| Planning critical scenario | - 001: Object following<br>- 002: Free driving<br>- 003: Lane keeping<br>- 004: Emergency braking |
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| Control critical scenario | - 001: Road shape<br>- 002: Scenery elements<br>- 003: Weather conditions |
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| Perception critical scenario | - 001: Blindspot<br>- 002: Poor detection conditions |
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[INCREMENTAL ID] is a 4-digit number starting at 0001 and continuously incremented for each scenario with the same ego motion category.

‎usecases/pov/UC-PLN-001-0001.feature.md‎

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# Feature: Maintain safe distance from preceding vehicle
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Ensures that ego is able to keep a safe distance from a preceding vehicle under different scenarios.
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This is required to provide ego with enough time to react to sudden changes in movement of the preceding vehicle, or other traffic participants ahead.
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## Scenario Outline: Maintain safe distance from preceding vehicle that drives slower than ego
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Confirm that ego is able to adjust its speed such as to maintain a safe distance from a preceding vehicle that drives at a constant speed slower than itself.
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* Given Ego is driving at <vxi_ego>
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* And Npc0 is positioned ahead of ego, in the same driving lane
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* And Npc0 is driving at <vxi_npc0>, smaller than <vxi_ego>
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* When Ego approaches Npc0 up to a safe distance
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* Then Ego starts decelerating with rate no faster than <axmin_ego>
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* And Ego matches the speed of Npc0, <vxi_npc0>
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* And Ego drives continuously at all times
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* And Ego drives safely with no collisions at all times
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![Overview](./images/UC-PLN-001-0001.drawio.svg)
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### Examples:
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| vxi_ego | vxi_npc0 | axmin_ego |
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| ------- | -------- | ---------- |
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| 20 km/h | 15 km/h | -1.5 m/s^2 |
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| 30 km/h | 20 km/h | -1.5 m/s^2 |
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| 40 km/h | 25 km/h | -1.5 m/s^2 |
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## Scenario Outline: Maintain safe distance from preceding vehicle that is decelerating partially
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Confirm that ego is able to continuously adjust its speed such as to maintain a safe distance from a preceding vehicle that is decelerating.
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* Given Ego is driving at <vxi_ego>
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* And Npc0 is positioned ahead of ego, in the same driving lane
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* And Npc0 is driving at <vxi_npc0>, smaller than <vxi_ego>
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* When Ego approaches Npc0 up to a safe distance
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* Then Ego decelerates to match the speed of Npc0, <vxi_npc0>
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* When Npc0 further decelerates to <vx_npc0> at a rate of <ax_npc0>
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* Then Ego further decelerates to match the speed of Npc0, <vx_npc0>
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* And Ego drives continuously at all times
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* And Ego keeps its deceleration rate slower than <axmin_ego> at all times
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* And Ego drives safely with no collisions at all times
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![Overview](./images/UC-PLN-001-0001.drawio.svg)
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### Examples:
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| vxi_ego | vxi_npc0 | axmin_ego | vx_npc0 | ax_npc0 |
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| ------- | -------- | ---------- | ------- | ---------- |
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| 20 km/h | 15 km/h | -1.5 m/s^2 | 10 km/h | -1.0 m/s^2 |
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| 30 km/h | 20 km/h | -1.5 m/s^2 | 12 km/h | -1.0 m/s^2 |
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| 40 km/h | 25 km/h | -1.5 m/s^2 | 15 km/h | -1.0 m/s^2 |
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## Scenario Outline: Maintain safe distance from preceding vehicle that is decelerating completely
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Confirm that ego is able to continuously adjust its speed such as to maintain a safe distance from a preceding vehicle that decelerates to a standstill.
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* Given Ego is driving at <vxi_ego>
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* And Npc0 is positioned ahead of ego, in the same driving lane
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* And Npc0 is driving at <vxi_npc0>, smaller than <vxi_ego>
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* When Ego approaches Npc0 up to a safe distance
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* Then Ego decelerates to match the speed of Npc0, <vxi_npc0>
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* When Npc0 further decelerates to a standstill at a rate of <ax_npc0>
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* Then Ego further decelerates to a standstill
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* And Ego keeps its deceleration rate slower than <axmin_ego> at all times
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* And Ego drives safely with no collisions at all times
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![Overview](./images/UC-PLN-001-0001.drawio.svg)
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### Examples:
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| vxi_ego | vxi_npc0 | axmin_ego | ax_npc0 |
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| ------- | -------- | ---------- | ---------- |
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| 20 km/h | 15 km/h | -1.5 m/s^2 | -1.0 m/s^2 |
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| 30 km/h | 20 km/h | -1.5 m/s^2 | -1.0 m/s^2 |
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| 40 km/h | 25 km/h | -1.5 m/s^2 | -1.0 m/s^2 |
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## Scenario Outline: Stop safely when detecting a preceding standstill vehicle
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Confirm that ego is able to stop safely when a stopped vehicle is detected ahead of ego.
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* Given Ego is driving at <vxi_ego>
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* And Npc0 is <dxi_ego_npc0> ahead of ego, in the same driving lane
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* And Npc0 is in standstill
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* When Ego approaches Npc0
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* Then Ego starts decelerating with rate no faster than <axmin_ego>
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* And Ego reaches standstill
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* And Ego drives safely with no collisions at all times
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![Overview](./images/UC-PLN-001-0001.drawio.svg)
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### Examples:
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| vxi_ego | dxi_ego_npc0 | axmin_ego |
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| -------- | ------------ | ---------- |
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| 90 km/h | 150 m | -1.5 m/s^2 |
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| 100 km/h | 150 m | -1.5 m/s^2 |
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| 110 km/h | 150 m | -1.5 m/s^2 |

‎usecases/pov/UC-PLN-001-0002.feature.md‎

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# Feature: Maintain safe distance from preceding motorcycle
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Ensures that ego is able to keep a safe distance from a preceding motorcycle under different scenarios.
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This is required to provide ego with enough time to react to sudden changes in movement of the preceding motorcycle, or other traffic participants ahead.
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## Scenario Outline: Maintain safe distance from preceding motorcycle that drives slower than ego
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Confirm that ego is able to adjust its speed such as to maintain a safe distance from a preceding motorcycle that drives at a constant speed slower than itself.
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* Given Ego is driving at <vxi_ego>
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* And Motorbike0 is positioned ahead of ego, in the same driving lane
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* And Motorbike0 is driving at <vxi_motorbike0>, smaller than <vxi_ego>
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* When Ego approaches Motorbike0 up to a safe distance
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* Then Ego starts decelerating with rate no faster than <axmin_ego>
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* And Ego matches the speed of Motorbike0, <vxi_motorbike0>
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* And Ego drives continuously at all times
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* And Ego drives safely with no collisions at all times
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![Overview](./images/UC-PLN-001-0001.drawio.svg)
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### Examples:
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| vxi_ego | vxi_motorbike0 | axmin_ego |
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| ------- | -------------- | ---------- |
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| 20 km/h | 15 km/h | -1.5 m/s^2 |
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| 30 km/h | 20 km/h | -1.5 m/s^2 |
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| 40 km/h | 25 km/h | -1.5 m/s^2 |
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## Scenario Outline: Maintain safe distance from preceding motorcycle that is decelerating partially
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Confirm that ego is able to continuously adjust its speed such as to maintain a safe distance from a preceding motorcycle that is decelerating.
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* Given Ego is driving at <vxi_ego>
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* And Motorbike0 is positioned ahead of ego, in the same driving lane
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* And Motorbike0 is driving at <vxi_motorbike0>, smaller than <vxi_ego>
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* When Ego approaches Motorbike0 up to a safe distance
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* Then Ego decelerates to match the speed of Motorbike0, <vxi_motorbike0>
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* When Motorbike0 further decelerates to <vx_motorbike0> at a rate of <ax_motorbike0>
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* Then Ego further decelerates to match the speed of Motorbike0, <vx_motorbike0>
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* And Ego drives continuously at all times
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* And Ego keeps its deceleration rate slower than <axmin_ego> at all times
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* And Ego drives safely with no collisions at all times
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![Overview](./images/UC-PLN-001-0001.drawio.svg)
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### Examples:
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| vxi_ego | vxi_motorbike0 | axmin_ego | vx_motorbike0 | ax_motorbike0 |
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| ------- | -------------- | ---------- | ------------- | ------------- |
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| 20 km/h | 15 km/h | -1.5 m/s^2 | 10 km/h | -1.0 m/s^2 |
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| 30 km/h | 20 km/h | -1.5 m/s^2 | 12 km/h | -1.0 m/s^2 |
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| 40 km/h | 25 km/h | -1.5 m/s^2 | 15 km/h | -1.0 m/s^2 |
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## Scenario Outline: Maintain safe distance from preceding motorcycle that is decelerating completely
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Confirm that ego is able to continuously adjust its speed such as to maintain a safe distance from a preceding motorcycle that decelerates to a standstill.
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* Given Ego is driving at <vxi_ego>
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* And Motorbike0 is positioned ahead of ego, in the same driving lane
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* And Motorbike0 is driving at <vxi_motorbike0>, smaller than <vxi_ego>
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* When Ego approaches Motorbike0 up to a safe distance
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* Then Ego decelerates to match the speed of Motorbike0, <vxi_motorbike0>
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* When Motorbike0 further decelerates to a standstill at a rate of <ax_motorbike0>
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* Then Ego further decelerates to a standstill
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* And Ego keeps its deceleration rate slower than <axmin_ego> at all times
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* And Ego drives safely with no collisions at all times
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![Overview](./images/UC-PLN-001-0001.drawio.svg)
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### Examples:
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| vxi_ego | vxi_motorbike0 | axmin_ego | ax_motorbike0 |
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| ------- | -------------- | ---------- | ------------- |
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| 20 km/h | 15 km/h | -1.5 m/s^2 | -1.0 m/s^2 |
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| 30 km/h | 20 km/h | -1.5 m/s^2 | -1.0 m/s^2 |
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| 40 km/h | 25 km/h | -1.5 m/s^2 | -1.0 m/s^2 |
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## Scenario Outline: Stop safely when detecting a preceding standstill motorcycle
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Confirm that ego is able to stop safely when a stopped motorcycle is detected ahead of ego.
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* Given Ego is driving at <vxi_ego>
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* And Motorbike0 is <dxi_ego_motorbike0> ahead of ego, in the same driving lane
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* And Motorbike0 is in standstill
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* When Ego approaches Motorbike0
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* Then Ego starts decelerating with rate no faster than <axmin_ego>
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* And Ego reaches standstill
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* And Ego drives safely with no collisions at all times
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![Overview](./images/UC-PLN-001-0001.drawio.svg)
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### Examples:
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| vxi_ego | dxi_ego_motorbike0 | axmin_ego |
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| -------- | ------------------ | ---------- |
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| 90 km/h | 150 m | -1.5 m/s^2 |
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| 100 km/h | 150 m | -1.5 m/s^2 |
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| 110 km/h | 150 m | -1.5 m/s^2 |

‎usecases/pov/UC-PLN-001-0003.feature.md‎

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# Feature: Maintain safe distance from cutting-in vehicle
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Ensures that ego is able to keep a safe distance from a vehicle that cuts in ahead of ego, under different scenarios.
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This is required to provide ego with enough time to react to sudden changes in movement of the cutting-in vehicle, or other traffic participants ahead.
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## Scenario Outline: Maintain safe distance from slower vehicle cutting-in from the left
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Confirm that ego is able to adjust its speed such as to maintain a safe distance from a vehicle that cuts in from the left with a constant speed that is slower than itself.
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* Given Ego is driving at <vxi_ego>
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* And Npc0 is positioned ahead of ego, in the neighboring left lane
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* And Npc0 is driving at <vxi_npc0>, smaller than <vxi_ego>, in the same direction
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* When Ego approaches Npc0 longitudinally, to within <dx_ego_npc0>
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* And later Npc0 cuts into the ego lane within a timespan of <time_cut_in_npc0>
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* Then Ego starts decelerating to match the speed of Npc0, <vxi_npc0>
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* And Ego drives continuously at all times
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* And Ego keeps its deceleration rate slower than <axmin_ego> at all times
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* And Ego drives safely with no collisions at all times
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![Overview](./images/UC-PLN-001-0001.drawio.svg)
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### Examples:
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| vxi_ego | vxi_npc0 | dx_ego_npc0 | time_cut_in_npc0 | axmin_ego |
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| ------- | -------- | ----------- | ---------------- | ---------- |
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| 20 km/h | 15 km/h | 15 m | 4 s | -1.5 m/s^2 |
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| 30 km/h | 20 km/h | 15 m | 4 s | -1.5 m/s^2 |
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| 40 km/h | 25 km/h | 15 m | 4 s | -1.5 m/s^2 |
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## Scenario Outline: Maintain safe distance from slower vehicle cutting-in from the right
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Confirm that ego is able to adjust its speed such as to maintain a safe distance from a vehicle that cuts in from the right with a constant speed that is slower than itself.
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* Given Ego is driving at <vxi_ego>
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* And Npc0 is positioned ahead of ego, in the neighboring right lane
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* And Npc0 is driving at <vxi_npc0>, smaller than <vxi_ego>, in the same direction
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* When Ego approaches Npc0 longitudinally, to within <dx_ego_npc0>
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* And later Npc0 cuts into the ego lane within a timespan of <time_cut_in_npc0>
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* Then Ego starts decelerating to match the speed of Npc0, <vxi_npc0>
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* And Ego drives continuously at all times
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* And Ego keeps its deceleration rate slower than <axmin_ego> at all times
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* And Ego drives safely with no collisions at all times
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![Overview](./images/UC-PLN-001-0001.drawio.svg)
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### Examples:
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| vxi_ego | vxi_npc0 | dx_ego_npc0 | time_cut_in_npc0 | axmin_ego |
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| ------- | -------- | ----------- | ---------------- | ---------- |
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| 20 km/h | 15 km/h | 15 m | 4 s | -1.5 m/s^2 |
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| 30 km/h | 20 km/h | 15 m | 4 s | -1.5 m/s^2 |
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| 40 km/h | 25 km/h | 15 m | 4 s | -1.5 m/s^2 |

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