fix(behavior_path_planner): fix lane change speed #3091
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Signed-off-by: yutaka <purewater0901@gmail.com>
Codecov ReportPatch coverage has no change and project coverage change:
Additional details and impacted files@@ Coverage Diff @@
## main #3091 +/- ##
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- Coverage 12.25% 12.13% -0.13%
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Files 1358 1358
Lines 94724 95687 +963
Branches 26887 27620 +733
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Hits 11613 11613
- Misses 70853 71756 +903
- Partials 12258 12318 +60
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| } | ||
| const auto dist_from_end = target_lane_length - min_total_lane_changing_distance; | ||
| return std::min(dist_from_lc_start, dist_from_end); | ||
| return std::min(dist_from_lc_start, target_lane_length); |
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As mentioned, this changed created bug for the multiple lane change. Therefore, please help to change the code accordingly.
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Isn't it too short to do the double lane change?
Signed-off-by: yutaka <purewater0901@gmail.com>
…ation/autoware.universe into feat/fix-lane-change-speed
rej55
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Mar 29, 2023
xianglunkai
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Apr 3, 2023
Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
ktro2828
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Description
Although autoware assumes the ego vehicle runs at a constant velocity while lane change, current code does not follow this rule. It assumes that the ego vehicle decelerates while doing lane change. This makes the vehicle speed unnecessary low while lane change.
In this PR, I changed the ego vehicle speed to a constant speed.
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