fix(lane_change): enable cancel when ego in turn direction lane (RT0-33893) #1594
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Signed-off-by: Zulfaqar Azmi <[email protected]>
Signed-off-by: Zulfaqar Azmi <[email protected]>
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Signed-off-by: Zulfaqar Azmi <[email protected]>
Signed-off-by: Zulfaqar Azmi <[email protected]>
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| @@ -42,11 +43,15 @@ struct LaneChangeStatus | |||
| LaneChangePath lane_change_path{}; | |||
| lanelet::ConstLanelets current_lanes{}; | |||
| lanelet::ConstLanelets target_lanes{}; | |||
| lanelet::ConstLanelet current_lane{}; | |||
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I think ego_lane like in main PR is better to make it easier to distinguish from current_lanes
mkquda
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Signed-off-by: Zulfaqar Azmi <[email protected]>
Signed-off-by: Zulfaqar Azmi <[email protected]>
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…33893) (#1594) * yield at intersection by making the check conservative Signed-off-by: Zulfaqar Azmi <[email protected]> * make code of similar to main branch Signed-off-by: Zulfaqar Azmi <[email protected]> * fix build error Signed-off-by: Zulfaqar Azmi <[email protected]> * fix logic Signed-off-by: Zulfaqar Azmi <[email protected]> * update README Signed-off-by: Zulfaqar Azmi <[email protected]> * change variable name Signed-off-by: Zulfaqar Azmi <[email protected]> --------- Signed-off-by: Zulfaqar Azmi <[email protected]>
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Description
When performing a lane change after an intersection, nearby vehicle might attempt to overtake the ego vehicle. Although simulations may suggest the maneuver is safe, real world testing shows it can feel unsafe. This is particularly true in intersections, where surrounding vehicle often exhibits significant speed variations and unpredictable behavior.
The image below illustrates such a scenario.
In this situation, rear vehicle may either stop abruptly or accelerate suddenly, making it challenging for the safety check to produce reliable result.
This PR addresses the issue by making the lane change module adopt a more conservative approach near intersection.
If the ego vehicle is within an intersection and currently in a turn lane, the lane change module will output an invalid path.
Additionally, if the ego vehicle has just exited the turn lane of an intersection and its distance from the intersection is within the backward_length_from_intersection, the lane change will also be marked as invalid.
The module also monitors objects behind the ego vehicle. If their highest-confidence predicted path overlaps with the target lanes, the lane change path will be cancelled.
Result after PR
Related links
autowarefoundation#9124
Parent Issue:
How was this PR tested?
Notes for reviewers
None.
Interface changes
None.
Effects on system behavior
None.