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R224 / 1:Mc

Obstacle Event requires mitigation defined by exactly one Obstacle Mitigation Specification

Obstacle Mitigation Specification defines mitigation policy for zero, one or many Obstacle Event

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At various distances up ahead in the Driving Lane there may be obstacles, such as a parked truck, that need to be avoided in some way (stopping, passing, etc). Each such distance (event) is associated with a policy for negotiating the obstacle. Of course, other environmental circumstances will come into play, but there can still be a default plan barring other circumstances. For example, you want to steer the wheels around a pothole if possible while staying in the lane.

Formalization

Obstacle Event.Mitigation spec -> Obstacle Mitigation Specification.Name