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docs(lane_change): update lane change documentation (#9949)
* update lane change requirements documentation Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * remove unused function getNumToPreferredLane Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * update candidate path generation documentation Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * update prepare phase and lane changing phase documentation Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * update longitudinal acceleration sampling documentation Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * add prepare duration sampling documentation Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * update candidate path validity and safety documentation Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * fix formatting Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * update image and fix formatting Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * add overtaking turn lane documentation Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> * add LC global flowchart to documentation Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> * reorganize lane change documentation Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * fix section title Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * add global flowchart description Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * add warning Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * apply pre-commit checks Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * fix spelling Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> * edit some descriptions Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> --------- Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp> Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com>
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‎planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md

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‎planning/behavior_path_planner/autoware_behavior_path_lane_change_module/images/lane_change-candidate_path_samples.png

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‎planning/behavior_path_planner/autoware_behavior_path_lane_change_module/images/lane_change-intersection_turn_lane_1.png

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‎planning/behavior_path_planner/autoware_behavior_path_lane_change_module/images/lane_change-intersection_turn_lane_2.png

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‎planning/behavior_path_planner/autoware_behavior_path_lane_change_module/images/lane_change-lon_accel_sampling.png

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‎planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/base_class.hpp

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@@ -235,8 +235,6 @@ class LaneChangeBase
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virtual bool is_near_regulatory_element() const = 0;
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protected:
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virtual int getNumToPreferredLane(const lanelet::ConstLanelet & lane) const = 0;
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virtual bool isValidPath(const PathWithLaneId & path) const = 0;
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virtual bool isAbleToStopSafely() const = 0;

‎planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/scene.hpp

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@@ -120,8 +120,6 @@ class NormalLaneChange : public LaneChangeBase
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protected:
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lanelet::ConstLanelets get_lane_change_lanes(const lanelet::ConstLanelets & current_lanes) const;
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int getNumToPreferredLane(const lanelet::ConstLanelet & lane) const override;
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TurnSignalInfo get_terminal_turn_signal_info() const final;
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lane_change::TargetObjects get_target_objects(

‎planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp

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@@ -924,13 +924,6 @@ bool NormalLaneChange::isAbortState() const
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return abort_path_ != nullptr;
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}
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int NormalLaneChange::getNumToPreferredLane(const lanelet::ConstLanelet & lane) const
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{
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const auto get_opposite_direction =
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(direction_ == Direction::RIGHT) ? Direction::LEFT : Direction::RIGHT;
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return std::abs(getRouteHandler()->getNumLaneToPreferredLane(lane, get_opposite_direction));
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}
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lane_change::TargetObjects NormalLaneChange::get_target_objects(
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const FilteredLanesObjects & filtered_objects,
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[[maybe_unused]] const lanelet::ConstLanelets & current_lanes) const

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