R77

R77 / 1c:Mc-1

Ego Vehicle is approaching zero, one or many Crosswalk

Crosswalk is being approached by zero or one Ego Vehicle

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Depending on its anticipated path, an Ego Vehicle may be likely to enter any number of detected Crosswalks in succession including any that will be encountered turning through an Intersection up ahead. It is also possible that no Crosswalks up ahead of the Ego Vehicle may be detected.

A given detected Crosswalk either is or is not in the intended path of the Ego Vehicle (See Ego Subsystem). A Crosswalk in the opposing Conduit (See Road Subsystem), for example will not be approached unless a U-turn into that Conduit is intended.

Formalization

Crosswalk Approach.Crosswalk -> Crosswalk.ID
Crosswalk Approach.Ego -> Ego Vehicle.ID