R166

R166 / 1:1c

Planned Movement plans to exit on exactly one Angular Intersection Lane Connector

Angular Intersection Lane Connector is planned exit for zero or one Planned Movement

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As the Ego Vehicle approaches the Intersection, it must choose a Connector which defines the path to a specific Driving Lane in the exit Conduit. There may be only one legal choice of Connector available, but there must be at least one. Otherwise the Planned Movement is unavailable and should not have been chosen. In that event, a different Planned Movement with an available Connector would have been chosen.

The choice of Connector will be provided to us via whichever external entity is in charge of routing.

Only one connector may be selected since there is only one Ego Vehicle which is either taking it or not.

Formalization

Planned Movement.(EL road segment, EL inside division, Exit conduit road segment, Target XL inside division) ->
    Angular Intersection Lane Connector.(EL road segment, EL inside division,
        XL road segment, XL inside division)