feat(lane_change): cherry-pick LC PRs #943
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TakaHoribe
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kosuke55,
kyoichi-sugahara,
satoshi-ota,
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taikitanaka3,
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tkimura4 and
zulfaqar-azmi-t4
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…5245) Signed-off-by: kosuke55 <[email protected]>
…en the ego is in stuck (autowarefoundation#5249) * [lane_change] sampling all possible longitudinal acceleration when the ego is in stuck Signed-off-by: Takamasa Horibe <[email protected]> * add clock Signed-off-by: Takamasa Horibe <[email protected]> * update Signed-off-by: Takamasa Horibe <[email protected]> * Update planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp Co-authored-by: Zulfaqar Azmi <[email protected]> * Update planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp Co-authored-by: Zulfaqar Azmi <[email protected]> * Update planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp Co-authored-by: Fumiya Watanabe <[email protected]> * Update planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp Co-authored-by: Fumiya Watanabe <[email protected]> * fix style Signed-off-by: Takamasa Horibe <[email protected]> --------- Signed-off-by: Takamasa Horibe <[email protected]> Co-authored-by: Zulfaqar Azmi <[email protected]> Co-authored-by: Fumiya Watanabe <[email protected]>
…autowarefoundation#5236) * feat(lane_change): keep distance against avoidable stationary objects Signed-off-by: kosuke55 <[email protected]> consider rss distance Signed-off-by: kosuke55 <[email protected]> tmp Signed-off-by: kosuke55 <[email protected]> * fix dangling Signed-off-by: Takamasa Horibe <[email protected]> * use parameter for velocity_treshold Signed-off-by: Takamasa Horibe <[email protected]> * check object only on the ego path Signed-off-by: Takamasa Horibe <[email protected]> * fix Signed-off-by: Takamasa Horibe <[email protected]> --------- Signed-off-by: kosuke55 <[email protected]> Signed-off-by: Takamasa Horibe <[email protected]> Co-authored-by: Takamasa Horibe <[email protected]>
) Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]>
…efoundation#5287) Signed-off-by: Fumiya Watanabe <[email protected]>
Signed-off-by: kosuke55 <[email protected]>
Signed-off-by: kosuke55 <[email protected]> Update planning/behavior_path_planner/src/utils/path_safety_checker/safety_check.cpp fix(path_safety_checker): remove redundant parameter name Signed-off-by: Fumiya Watanabe <[email protected]>
Signed-off-by: Takamasa Horibe <[email protected]> use margin Signed-off-by: Takamasa Horibe <[email protected]>
…ndation#5296) fix(lane_change): target lane blocking condition remove in_terminal condition fix Signed-off-by: Takamasa Horibe <[email protected]>
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Signed-off-by: Takamasa Horibe <[email protected]> update Signed-off-by: Takamasa Horibe <[email protected]>
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…utowarefoundation#5299) Signed-off-by: kosuke55 <[email protected]>
Signed-off-by: kosuke55 <[email protected]>
…in chattering Signed-off-by: kosuke55 <[email protected]> use boost intersects Signed-off-by: kosuke55 <[email protected]>
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…arefoundation#5318) * fix(lane_change): do not use refelence values of polygon outer Signed-off-by: Fumiya Watanabe <[email protected]> * fix(lane_change): fix in lane change Signed-off-by: Fumiya Watanabe <[email protected]> --------- Signed-off-by: Fumiya Watanabe <[email protected]>
takayuki5168
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Oct 17, 2023
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Description
LC改善のcherry-picks
polygon.outer()の参照を使わないようにする fix(lane_change): do not use reference values of polygon outer autowarefoundation/autoware.universe#5318This PR should be tested with https://github.com/tier4/autoware_launch.x2/tree/lc-update-20231013 branch which contains
Tests performed
https://tier4.atlassian.net/wiki/spaces/~793737791/pages/2909798824/LC#%E5%AE%A4%E5%B2%A1%E3%81%8F%E3%82%93%E3%81%8B%E3%82%89%E3%81%AE%E8%A6%81%E6%B1%82
876b3bb3-9151-4c09-900c-7e9ce41cda6d.mp4
Effects on system behavior
Not applicable.
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