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fix(lane_change): orientation check when constructing path #6339
fix(lane_change): orientation check when constructing path #6339
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Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
Codecov ReportAttention:
Additional details and impacted files@@ Coverage Diff @@
## main #6339 +/- ##
==========================================
- Coverage 14.36% 14.36% -0.01%
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Files 1907 1907
Lines 130136 130140 +4
Branches 37640 37642 +2
==========================================
Hits 18697 18697
- Misses 90430 90434 +4
Partials 21009 21009
*This pull request uses carry forward flags. Click here to find out more. ☔ View full report in Codecov by Sentry. |
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LGTM!
27895a0
into
autowarefoundation:main
…oundation#6339) Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
…oundation#6339) Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
…oundation#6339) Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
…oundation#6339) Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
…oundation#6339) Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
…oundation#6339) Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
Description
solve this issueTIER IV internal JIRA link
When start planner performing geometric pull out, it requires time to transition to recovery steering angle. Therefore ego needs to stop during this recovery perios.
However, due to ego is currently in the current lane of lane change, it caused lane change to be activated, and the start planner path and ego vehicle path is combined.
Lane change path uses previous path output as the preparation path, and also compute new lane changing path. As the result of this combination, start planner couldn't perform the recovery steering, due to the discontinuity of the path caused by the combination of start planner path and lane change path.
To avoid this issue, when computing lane change path, the continuity of the path if computed based on the angle of ego. If there is 5 degree differences, lane change will discard the lane changing path, and lane change path will not be generated.
Related links
Tests performed
Evaluator check TIER IV internal link
Notes for reviewers
Interface changes
Effects on system behavior
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