fix(intersection): fix stopline midpoint calculation #6315
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Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
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…ion#6315) Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
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feat(intersection): cherry pick intersection (autowarefoundation#6047 + autowarefoundation#6134+ autowarefoundation#6143 + autowarefoundation#6201 + autowarefoundation#6207 + autowarefoundation#6272 + autowarefoundation#6315)
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Description
fixed the wrong midpoint calculation from
to
Related links
https://tier4.atlassian.net/browse/RT1-4773
Tests performed
before
at [00:15], unnecessary stop happens due to miscalculation
_decel4.0-2024-02-05_16.36.14.mp4
after
_decel4.0-2024-02-05_16.39.16.mp4
Notes for reviewers
Interface changes
Effects on system behavior
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