Appendix A. Basic Behavioral Competency Testing
We believe that our fully self-driving vehicles should be able to successfully demonstrate competency in a variety of reasonably foreseeable traffic situations that are within the vehicle’s operational design domain. Our system can recognize and stay within its design domain, and the set of competencies expands or shrinks in accordance with the scope of each operational design domain. For each behavioral competency shown in the table below, we test a wide range of scenarios with variations in factors such as road configuration, the speed of our vehicle or other vehicles, and lighting conditions.
Set of Behavioral Competencies Recommended by NHTSA
1 Detect and Respond to Speed Limit Changes and Speed Advisories
2 Perform High-Speed Merge (e.g., Freeway)
3 Perform Low-Speed Merge
4 Move Out of the Travel Lane and Park (e.g., to the Shoulder for Minimal Risk)
5 Detect and Respond to Encroaching Oncoming Vehicles
6 Detect Passing and No Passing Zones and Perform Passing Maneuvers
7 Perform Car Following (Including Stop and Go)
8 Detect and Respond to Stopped Vehicles
9 Detect and Respond to Lane Changes
10 Detect and Respond to Static Obstacles in the Path of the Vehicle
11 Detect Traffic Signals and Stop/Yield Signs
12 Respond to Traffic Signals and Stop/Yield Signs
13 Navigate Intersections and Perform Turns
14 Navigate Roundabouts
15 Navigate a Parking Lot and Locate Spaces
16 Detect and Respond to Access Restrictions (One-Way, No Turn, Ramps, etc.)
17 Detect and Respond to Work Zones and People Directing Traffic in Unplanned or Planned Events
18 Make Appropriate Right-of-Way Decisions
19 Follow Local and State Driving Laws
20 Follow Police/First Responder Controlling Traffic (Overriding or Acting as Traffic Control Device)
21 Follow Construction Zone Workers Controlling Traffic Patterns (Slow/Stop Sign Holders)
22 Respond to Citizens Directing Traffic After a Crash
23 Detect and Respond to Temporary Traffic Control Devices
24 Detect and Respond to Emergency Vehicles
25 Yield for Law Enforcement, EMT, Fire, and Other Emergency Vehicles at Intersections, Junctions, and Other Traffic Controlled Situations
26 Yield to Pedestrians and Bicyclists at Intersections and Crosswalks
27 Provide Safe Distance From Vehicles, Pedestrians, Bicyclists on Side of the Road
28 Detect/Respond to Detours and/or Other Temporary Changes in Traffic Patterns
Examples of Additional Behavioral Competencies Tested by Waymo
29 Moving to a Minimum Risk Condition When Exiting the Travel Lane is Not Possible
30 Perform Lane Changes
31 Detect and Respond to Lead Vehicle
32 Detect and Respond to a Merging Vehicle
33 Detect and Respond to Pedestrians in Road (Not Walking Through Intersection or Crosswalk)
34 Provide Safe Distance from Bicyclists Traveling on Road (With or Without Bike Lane)
35 Detect and Respond to Animals
36 Detect and Respond to Motorcyclists
37 Detect and Respond to School Buses
38 Navigate Around Unexpected Road Closures (e.g. Lane, Intersection, etc.)
39 Navigate Railroad Crossings
40 Make Appropriate Reversing Maneuvers
41 Detect and Respond to Vehicle Control Loss (e.g. reduced road friction)
42 Detect and Respond to Conditions Involving Vehicle, System, or Component-Level Failures or Faults (e.g. power failure, sensing failure, sensing obstruction, computing failure, fault handling or response)
43 Detect and Respond to Unanticipated Weather or Lighting Conditions Outside of Vehicle’s Capability (e.g. rainstorm)
44 Detect and Respond to Unanticipated Lighting Conditions (e.g. power outages)
45 Detect and Respond to Non-Collision Safety Situations (e.g. vehicle doors ajar)
46 Detect and Respond to Faded or Missing Roadway Markings or Signage
47 Detect and Respond to Vehicles Parking in the Roadway
https://www.mtfchallenge.org/wp-content ... 017-10.pdf
