feat(dynamic drivable area expansion): add replan checker #4928
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Signed-off-by: Maxime CLEMENT <[email protected]>
Signed-off-by: Maxime CLEMENT <[email protected]>
Signed-off-by: Maxime CLEMENT <[email protected]>
Signed-off-by: Maxime CLEMENT <[email protected]>
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Description
Add a replan checker for the dynamic drivable area expansion. This allows reusing the previously calculated drivable area, greatly improving the stability of the corresponding left and right bound.
Requires the following launch PR: autowarefoundation/autoware_launch#558
Tests performed
Psim.
Evaluator (TIER IV INTERNAL LINK): https://evaluation.tier4.jp/evaluation/reports/c74138f2-c7c3-52b5-bca6-51120f1d5931?project_id=x2_dev
Effects on system behavior
The drivable area, when using the dynamic expansion, is much more stable.
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