Aggressive and abrupt lane changes triggering emergency stops

[seitzseb]

Detailed Description

The agent makes abrupt lane changes, causing it to suddenly brake to avoid collisions.

Definition of Done

Lane changes are smooth and safe, with no abrupt braking.
Confirmed safety during lane changes in different traffic densities.

Effort Estimate

7

Testability

Test in traffic conditions that require frequent lane changes to ensure smooth maneuvers.

Dependencies

Path-planning and control refinements for smoother lane changes.

[ll7]

This is a very important, but also very challenging issue.

Why are lane changes initiated?
Why are lc aborted?
How are lc executed?
How big is the trajectory difference between the planned overtake and the executed overtake. Is this a planning or an acting issue.

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