fix(lane_change): cherry-pick several lane change commits #1300
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…tion#6561) * fix(lane_change): check prepare phase in intersection Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> * Add new parameter, also create function Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> * Rename parameters Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> * fix spell check * fix config file Signed-off-by: Zulfaqar Azmi <[email protected]> * call the function check_prepare_phase only once Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> * add parameter description in README Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> * minor refactoring Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> * Doxygen description Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> --------- Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> Signed-off-by: Zulfaqar Azmi <[email protected]>
…efoundation#6722) Signed-off-by: Zulfaqar Azmi <[email protected]>
…ndation#6734) Signed-off-by: Zulfaqar Azmi <[email protected]>
…arefoundation#6726) * feat(lane_change): check prepare phase in turn direction lanes Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> * Doxygen comment Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> * Add config Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> * fix comments by the reviewer Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> --------- Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]>
…arefoundation#6760) * feat(lane_change): use external velocity limit in safety check Signed-off-by: Muhammad Zulfaqar <[email protected]> * style(pre-commit): autofix * Minor refactoring Signed-off-by: Muhammad Zulfaqar <[email protected]> * Fix spell check and remove headers Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> * Add warning Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> --------- Signed-off-by: Muhammad Zulfaqar <[email protected]> Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
…utowarefoundation#6784) * refactor(lane_change): make return previous output a common function Signed-off-by: Zulfaqar Azmi <[email protected]> * Replace all prev module's variable Signed-off-by: Zulfaqar Azmi <[email protected]> * fix build error in ablc Signed-off-by: Zulfaqar Azmi <[email protected]> * slight refactoring Signed-off-by: Zulfaqar Azmi <[email protected]> --------- Signed-off-by: Zulfaqar Azmi <[email protected]>
…arefoundation#6845) Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]>
Signed-off-by: Zulfaqar Azmi <[email protected]>
…tion#6931) Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]>
…utowarefoundation#6943) * refactor(lane_change): move getCurrentTurnSignalInfo to scene file Signed-off-by: Zulfaqar Azmi <[email protected]> * style(pre-commit): autofix * removed reference from trivial variable Signed-off-by: Zulfaqar Azmi <[email protected]> --------- Signed-off-by: Zulfaqar Azmi <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
…n#6930) Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]>
* refactor(lane_change): rework object filter Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> * Use preceeding lanes Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> * style(pre-commit): autofix * fix preceding lanes Signed-off-by: Zulfaqar Azmi <[email protected]> * Adds flow chart Signed-off-by: Zulfaqar Azmi <[email protected]> * prioritize on coming object check instead Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> * Fix flow chart and rearrange code to early return Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> * Colorize flow chart Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> --------- Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]> Signed-off-by: Zulfaqar Azmi <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
zulfaqar-azmi-t4
requested review from
danielsanchezaran,
kosuke55,
kyoichi-sugahara,
soblin,
satoshi-ota,
shmpwk,
TomohitoAndo,
tkimura4,
rej55,
maxime-clem,
TakaHoribe and
takayuki5168
as code owners
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Description
https://github.com/tier4/autoware_launch.xx1/pull/852
cherry pick several lane change commits
Related links
Tests performed
Run it with PSIM
Notes for reviewers
Interface changes
There's new parameter changes
into
Effects on system behavior
Lane change cancel is more conservative when ego vehicle is making turns or in the intersections.
Lane change now ignores any object that has orientation difference > 90 degree
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