fix(lane_change): collision check for prepare in intersection #930
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Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
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shmpwk
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Apr 3, 2024
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Apr 8, 2024
…refoundation#930) Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
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…refoundation#930) Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
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…refoundation#930) Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
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…refoundation#930) Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
Ericpotato
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Nov 6, 2024
…eam-fix Sync tier4 upstream fix
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Description
Due to lane change is performed instantaneously after exiting from the intersection, sometimes the safety check might be a little be delayed, causes the CANCEL process to not be executed when necessary.
To avoid this issue, we have to increase the lane change safety check horizon, by also performing the safety check for the prepare phase when ego vehicle is in the intersection.
Before PR
before_intersection_check-.2024-03-07-15-12-20.mp4
After PR
with_intersection_check-.2024-03-07-15-54-40.mp4
Related links
autowarefoundation/autoware.universe#6561
Tests performed
Not applicable.
Effects on system behavior
Not applicable.
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