fix(lane_change): check able to return to current lane #1087
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…owarefoundation#6034) * fix(lane_change): check able to return to original lane in abort Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> * fix cancel state Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> * revert changes Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> --------- Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]>
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Description
cherry pick lane change
Before abort process, lane change module should check if ego vehicle can return to original lane or not. And if it can't, abort path should not be computed.
This is a critical fix. Without this fix, ego will perform unwanted abort and it can be quite dangerous.
autowarefoundation#6034
Tests performed
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Effects on system behavior
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