feat(planning_launch): lane change abort parameters

[zulfaqar-azmi-t4]

Signed-off-by: Muhammad Zulfaqar Azmi [email protected]

PR Type

• New Feature

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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[rej55]

LGTM