Lane change module development plan

[rej55]

Checklist

• I've read the contribution guidelines.
• I've searched other issues and no duplicate issues were found.
• I've agreed with the maintainers that I can plan this task.

Description

Lane change module has features to plan lane changing to arrive goal.
The features implemented in the current lane change module are following:

• Driving lane planning
  • To arrive goal, it plans when and where to change lanes
  • The module also has a feature to change lanes by a request from operators
• Safety check
• Blinker control
• Path generation (now improving)
• Aborting lane change (now improving)

To make it more efficient and safer, some issues remain:

• Improving path planning
  • Path planning more like a real driver to improve feeling of riding
• Improving aborting lane change
  • To abort more safely, improving aborting behavior planning is required
• Planning with obstacle avoidance
• Dynamic route planning
  • For example, detour if lane change is not possible due to traffic jams
  • Common issue with mission planner
• Interactions with other cars
  • For example, get in a car platoon in a traffic jam
  • Indication of intention by blinker
• Perform multiple lanes lane change efficiently.
  • Currently, multiple lanes lane change is performed by separating the behavior into several single lane changes.
• Topic hz is currently an issue for lane change module.
  • It will be nice if we can reduce the time on the collision assessment.

Purpose

For more efficient and safer lane changes, the remained issues should be resolved.

Possible approaches

We are currently working on the following issues:

• Improving path planning
  • Planning including acceleration during lane change
  • Consideration of curvature according to vehicle speed
• Improving aborting lane change
  • Scenario enumeration
  • Reconsider criteria for returning current lane or entering target lane
• Planning with obstacle avoidance
  • Cooperating with avoidance module in behavior path planner

Definition of done

Resolve remained issues.

[stale]

This pull request has been automatically marked as stale because it has not had recent activity.

[TakaHoribe]

Recent updates.

Path generation

• fix(behavior_path_planner): remove setting maximum velocity after lane change #3756
• fix(lane_change): fix minimum lane change length #4033
• feat(behavior_path_planner): enable delay lane change when necessary #3991
• docs(behavior_path_planner): add explanation for dynamic lateral acceleration #3965
• docs(behavior_path_planner): add accelerated lane change explanations #3924
• feat(lane_change): enable lane change to accelerate in the lane changing segment #3762
• feat(lane_change): enable prepare segment acceleration #3750
• feat(lane_change): add dynamic lateral acc lc #3705

Safety check

• fix(lane_change): safety check chattering #4105
• feat(lane_change): update lane change object filter #4172
• fix(behavior_path_planner): make lane change safety check adaptive #2704
• fix(behavior_path_planner): make lane change safety check adaptive #2704

Lane change cancel framework

• feat(behavior_path_planner): lane change abort #3566
• fix(behavior_path_planner): enable abort lane change default #4080
• feat(lane_change): add param for a lateral distance margin where the abort can be performed #4083

Turn signal

• fix(lane_change): fix termianl lane chagne turn signal #4115
• feat(behavior_path_planner): add a length ratio parameter for lane change turn signal deactivation #3983

[mitsudome-r]

@TakaHoribe @shmpwk
All the linked PRs seemed to be merged. Is this issue ready to be closed?

[TakaHoribe]

@mitsudome-r Thank you for your comment. Yes, recently all lane change task has been completed. It would be nice if we could show the result of this development.

@rej55 Can we close this issue? Is ok, please summarize the current status (what we can/cannot do) in this issue.

[stale]

This pull request has been automatically marked as stale because it has not had recent activity.

[rej55]

Lane change development results

Completed items

Improving path planning

• Planning including acceleration during lane change
• Consideration of curvature according to vehicle speed

Improving aborting lane change

• Scenario enumeration
• Reconsider criteria for returning current lane or entering target lane

Planning with obstacle avoidance

• Cooperating with avoidance module in behavior path planner

Improving safety check

• Filtering objects to exclude unrelated objects

Not completed items

Blinker control for driver to driver interaction

Aborting path generation

• Asymmetric path generation
  • Path generation without PathShifter

Some improvements

• Path planning at terminal of lane
• Stabilize safety check functions

Refactoring