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feat(planning_launch): lane change abort parameters #583
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Signed-off-by: Muhammad Zulfaqar Azmi [email protected]
PR Type
Related Links
autowarefoundation/autoware.universe#2359
Description
This PR is related to the parameters for lane change abort
Current lane change abort function only cancels unsafe lane change path when ego is still relatively close to the current reference lane (preparation phase). While ego is lane changing, there is no action to respond to the unsafe lane change path. Therefore in this PR, the aim is to generate a trajectory that allows ego to return to the original lane when aborting.
Review Procedure
Remarks
Abort lane change is still experimental method. This doesn't guarantee a safe non-collision trajectory.
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