fix(lane_change): consider max velocity during path planning (#6615) #1203
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…efoundation#6615) Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
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…utowarefoundation#6615) (#1203)" This reverts commit 2d2d556.
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…efoundation#6615) (#1203) Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
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* fix(lane_change): consider max velocity during path planning (autowarefoundation#6615) (#1203) Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * fix the max_velocity not subscribed from motion velocity smoother 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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Description
Cherry picking autowarefoundation#6615
to v0.20.1.5
Lane change max velocity computation currently doesn't consider the parameterized input from
common.max_vel. The result is that it causes the prepare path to be much longer than anticipated, plus, the results also affects the safety check, where the expected velocity is different from the actual velocity, which causes many safety check issues.This PR aims to solve this by including the max_vel parameter
Before PR
Prepare path is long, plus safety check is difficult to be approved.
cap-.2024-03-14-16-28-56.mp4
After PR
Safety check is much simpler to be approved.
cap-.2024-03-14-16-30-28.mp4
Tests performed
Not applicable.
Effects on system behavior
Not applicable.
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