BlindSpotModule::modifyPathVelocityDetail increases in cyclomatic complexity from 9 to 12, threshold = 9. This function has many conditional statements (e.g. if, for, while), leading to lower code health. Avoid adding more conditionals and code to it without refactoring.

BlindSpotModule::generateBlindSpotPolygons is no longer above the threshold for cyclomatic complexity. This function has many conditional statements (e.g. if, for, while), leading to lower code health. Avoid adding more conditionals and code to it without refactoring.

BlindSpotModule::isCollisionDetected is no longer above the threshold for cyclomatic complexity. This function has many conditional statements (e.g. if, for, while), leading to lower code health. Avoid adding more conditionals and code to it without refactoring.

BlindSpotModule::generateBlindSpotLanelets has a cyclomatic complexity of 22, threshold = 9. This function has many conditional statements (e.g. if, for, while), leading to lower code health. Avoid adding more conditionals and code to it without refactoring.

BlindSpotModule::generateBlindSpotPolygons is no longer above the threshold for logical blocks with deeply nested code. The Bumpy Road code smell is a function that contains multiple chunks of nested conditional logic. The deeper the nesting and the more bumps, the lower the code health.

BlindSpotModule::generateBlindSpotLanelets has 4 blocks with nested conditional logic. Any nesting of 2 or deeper is considered. Threshold is one single, nested block per function. The Bumpy Road code smell is a function that contains multiple chunks of nested conditional logic. The deeper the nesting and the more bumps, the lower the code health.

The mean cyclomatic complexity decreases from 4.78 to 4.52, threshold = 4. This file has many conditional statements (e.g. if, for, while) across its implementation, leading to lower code health. Avoid adding more conditionals.

BlindSpotModule::cutPredictPathWithDuration is no longer above the threshold for nested complexity depth