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feat(lane_change): implement terminal lane change feature #9592

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f9ddbb6
implement function to compute terminal lane change path
mkquda Nov 11, 2024
7d71f67
Merge branch 'awf-latest' into RT1-8205-implement-terminal-lane-chang…
mkquda Nov 13, 2024
9ee52bb
push terminal path to candidate paths if no other valid candidate pat…
mkquda Nov 13, 2024
46b9bf3
use terminal path in LC interface planWaitingApproval function
mkquda Nov 13, 2024
c1b84e2
set lane changing longitudinal accel to zero for terminal lc path
mkquda Nov 13, 2024
38a7841
rename function
mkquda Nov 13, 2024
8c3f006
Merge remote-tracking branch 'origin/awf-latest' into RT1-8205-implem…
mkquda Nov 13, 2024
c0b39d8
Merge branch 'awf-latest' into RT1-8205-implement-terminal-lane-chang…
mkquda Nov 25, 2024
e855b39
Merge branch 'awf-latest' into RT1-8205-implement-terminal-lane-chang…
mkquda Nov 26, 2024
aa5bb07
chore: rename codeowners file
tkimura4 Nov 27, 2024
690b262
Merge branch 'awf-latest' into RT1-8205-implement-terminal-lane-chang…
mkquda Nov 28, 2024
ff69ee9
Merge branch 'awf-latest' into RT1-8205-implement-terminal-lane-chang…
mkquda Dec 2, 2024
aa79ab9
Merge branch 'awf-latest' into RT1-8205-implement-terminal-lane-chang…
mkquda Dec 3, 2024
63d6700
Merge branch 'awf-latest' into RT1-8205-implement-terminal-lane-chang…
mkquda Dec 6, 2024
d547fcc
remove unused member variable prev_approved_path_
mkquda Dec 6, 2024
cebe4c1
Merge branch 'awf-latest' into RT1-8205-implement-terminal-lane-chang…
mkquda Dec 6, 2024
7739b75
Merge branch 'awf-latest' into RT1-8205-implement-terminal-lane-chang…
mkquda Dec 8, 2024
8eb32ae
refactor stop point insertion for terminal lc path
mkquda Dec 8, 2024
aacb961
add flag to enable/disable terminal path feature
mkquda Dec 8, 2024
5ee503f
update README
mkquda Dec 9, 2024
e83c97b
Merge branch 'awf-latest' into RT1-8205-implement-terminal-lane-chang…
mkquda Dec 10, 2024
a2f6eca
add parameter to configure stop point placement
mkquda Dec 10, 2024
dfcd5e8
Merge branch 'awf-latest' into RT1-8205-implement-terminal-lane-chang…
mkquda Dec 11, 2024
8265c3f
Merge branch 'awf-latest' into RT1-8205-implement-terminal-lane-chang…
mkquda Dec 12, 2024
33a6804
compute terminal path only when near terminal start
mkquda Dec 13, 2024
3e6eed9
Merge branch 'awf-latest' into RT1-8205-implement-terminal-lane-chang…
mkquda Dec 18, 2024
c2a900c
Merge branch 'awf-latest' into RT1-8205-implement-terminal-lane-chang…
mkquda Dec 20, 2024
75a6878
add option to disable feature near goal
mkquda Dec 20, 2024
349850b
set default flag value to false
mkquda Dec 23, 2024
79338e2
Merge branch 'awf-latest' into RT1-8205-implement-terminal-lane-chang…
mkquda Dec 23, 2024
a382a0e
add documentation for terminal lane change path
mkquda Dec 23, 2024
78b1182
ensure actual prepare duration is always above minimum prepare durati…
mkquda Dec 24, 2024
10fa0e0
Merge branch 'awf-latest' into RT1-8205-implement-terminal-lane-chang…
mkquda Dec 24, 2024
fb2f9e0
explicitly return std::nullopt
mkquda Dec 24, 2024
97705fd
Merge branch 'awf-latest' into RT1-8205-implement-terminal-lane-chang…
mkquda Dec 25, 2024
2d258d0
Update planning/behavior_path_planner/autoware_behavior_path_lane_cha…
mkquda Dec 25, 2024
1a4fd5b
fix assignment
mkquda Dec 25, 2024
6514c0e
fix spelling
mkquda Dec 25, 2024
fe583cb
Merge branch 'main' into RT1-8205-implement-terminal-lane-change-feature
mkquda Dec 25, 2024
c6c468b
Merge branch 'awf-latest' into RT1-8205-implement-terminal-lane-chang…
mkquda Dec 27, 2024
44f90b8
fix merge errors
mkquda Dec 27, 2024
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push terminal path to candidate paths if no other valid candidate pat…
…h is found

Signed-off-by: mohammad alqudah <[email protected]>
mkquda committed Nov 13, 2024

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This commit was created on GitHub.com and signed with GitHub’s verified signature.
commit 9ee52bb1bd2151b29e81bbc89c1a82759389fef9
Original file line number Diff line number Diff line change
@@ -222,6 +222,10 @@ std::pair<bool, bool> NormalLaneChange::getSafePath(LaneChangePath & safe_path)
bool found_safe_path = get_lane_change_paths(valid_paths);
// if no safe path is found and ego is stuck, try to find a path with a small margin

if (valid_paths.empty() && terminal_lane_change_path_) {
valid_paths.push_back(terminal_lane_change_path_.value());
}

lane_change_debug_.valid_paths = valid_paths;

if (valid_paths.empty()) {
@@ -1486,13 +1490,8 @@ std::optional<PathWithLaneId> NormalLaneChange::get_terminal_lane_change_path()

const auto max_lane_changing_length = std::invoke([&]() {
double max_length = transient_data.dist_to_terminal_end - prep_metric.length;
auto target_lane_buffer = lane_change_parameters_->lane_change_finish_judge_buffer +
transient_data.next_dist_buffer.min;
if (
std::abs(getRouteHandler()->getNumLaneToPreferredLane(target_lanes.back(), direction_)) > 0) {
target_lane_buffer += lane_change_parameters_->backward_length_buffer_for_end_of_lane;
}
max_length = std::min(max_length, dist_lc_start_to_end_of_lanes - target_lane_buffer);
max_length =
std::min(max_length, dist_lc_start_to_end_of_lanes - transient_data.next_dist_buffer.min);
return max_length;
});