11.7 Overtaker

This example, which is shown in Figure 57, describes a traffic situation where the Ego vehicle is approached by a faster vehicle driving on the rightmost lane of a three-lane motorway.

At the initialization phase, the Ego vehicle is initialized at the rightmost lane driving at a speed of 130 km/h. The other vehicle is initialized 79 m behind of the Ego vehicle driving in the same lane at a speed of 150 km/h.

At simulation runtime, when the faster vehicle approaches the Ego vehicle by 30 m, it performs a sinusoidal lane change to the left. As soon as the vehicle is 5 m ahead of the Ego vehicle, it changes its lane back to the rightmost lane.

This scenario teaches the use of conditions and the consecutive execution of instances of LaneChangeAction.