fix(lane_change): do not cancel when approaching terminal start #8381
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Codecov ReportAttention: Patch coverage is
Additional details and impacted files@@ Coverage Diff @@
## main #8381 +/- ##
==========================================
- Coverage 23.90% 23.77% -0.14%
==========================================
Files 1380 1381 +1
Lines 101759 101777 +18
Branches 38713 38697 -16
==========================================
- Hits 24328 24193 -135
- Misses 74947 75161 +214
+ Partials 2484 2423 -61
*This pull request uses carry forward flags. Click here to find out more. ☔ View full report in Codecov by Sentry. |
maxime-clem
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Aug 14, 2024
...ng/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/calculation.cpp
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Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
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…warefoundation#8381) * do not cancel if ego vehicle approaching terminal start Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * Insert stop point if object is coming from rear Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * minor edit to fix conflict Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * rename function Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> --------- Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
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Aug 15, 2024
…warefoundation#8381) * do not cancel if ego vehicle approaching terminal start Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * Insert stop point if object is coming from rear Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * minor edit to fix conflict Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * rename function Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> --------- Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Signed-off-by: xtk8532704 <1041084556@qq.com>
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Description
Lane change module will cancel unsafe path unless ego has passed terminal start point.
However, as ego vehicle approaching terminal end, cancelling lane change path might result in difficulties in re-attempting lane change.
This PR aims to fix this, by not cancelling lane change if ego has already near terminal start.
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Interface changes
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Effects on system behavior
None.