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feat(lane_change): enable lane change to accelerate in the lane changing segment #3762
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…unction Signed-off-by: yutaka <[email protected]>
Signed-off-by: yutaka <[email protected]>
Signed-off-by: yutaka <[email protected]>
…essary-prepare-function
Signed-off-by: yutaka <[email protected]>
Signed-off-by: yutaka <[email protected]>
…-lon-acc-to-path-shifter
Signed-off-by: yutaka <[email protected]>
Codecov ReportPatch coverage has no change and project coverage change:
Additional details and impacted files@@ Coverage Diff @@
## main #3762 +/- ##
==========================================
+ Coverage 14.52% 14.56% +0.03%
==========================================
Files 1442 1439 -3
Lines 101467 102235 +768
Branches 30160 30778 +618
==========================================
+ Hits 14741 14891 +150
- Misses 70586 71124 +538
- Partials 16140 16220 +80
*This pull request uses carry forward flags. Click here to find out more.
☔ View full report in Codecov by Sentry. |
Signed-off-by: yutaka <[email protected]>
Signed-off-by: yutaka <[email protected]>
Signed-off-by: yutaka <[email protected]>
Signed-off-by: yutaka <[email protected]>
…utoware.universe into feat/accelerated-lc
Signed-off-by: yutaka <[email protected]>
Signed-off-by: yutaka <[email protected]>
Signed-off-by: yutaka <[email protected]>
Signed-off-by: yutaka <[email protected]>
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LGTM
…ing segment (autowarefoundation#3762) * refactor(behavior_path_planner): remove unnecessary prepare segment function Signed-off-by: yutaka <[email protected]> * update Signed-off-by: yutaka <[email protected]> * update Signed-off-by: yutaka <[email protected]> * feat(lane_change): enable acceleration on the prepare segment Signed-off-by: yutaka <[email protected]> * feat(behavior_path_planner): add longitudinal acc to path shifter Signed-off-by: yutaka <[email protected]> * feat(lane_change): enable lane change to accelerate Signed-off-by: yutaka <[email protected]> * update Signed-off-by: yutaka <[email protected]> * update Signed-off-by: yutaka <[email protected]> * update Signed-off-by: yutaka <[email protected]> * udpate * update Signed-off-by: yutaka <[email protected]> * update Signed-off-by: yutaka <[email protected]> * update Signed-off-by: yutaka <[email protected]> * update Signed-off-by: yutaka <[email protected]> --------- Signed-off-by: yutaka <[email protected]>
Description
Currently, the lane change module cannot accelerate the ego velocity while it is on the lane changing segment. With this PR, it can accelerate the ego velocity even when the ego vehicle is on the lane-changing segment.
Launch PR
Related links
Tests performed
Planning Simulators
Scenario Result 1309/1375
TIER IV Internal Link
Notes for reviewers
Interface changes
There are no interface changes with this PR.
Effects on system behavior
If the ego velocity is lower than the road max velocity, the ego vehicle starts to accelerate during the lane change.
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