fix(behavior_path_planner): fix external lane change buffer #3549
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Signed-off-by: yutaka <purewater0901@gmail.com>
purewater0901
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rej55,
kosuke55,
kyoichi-sugahara,
satoshi-ota,
shmpwk,
taikitanaka3,
TakaHoribe,
takayuki5168,
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Codecov ReportPatch coverage has no change and project coverage change:
Additional details and impacted files@@ Coverage Diff @@
## main #3549 +/- ##
==========================================
- Coverage 14.07% 14.07% -0.01%
==========================================
Files 1398 1398
Lines 97963 97964 +1
Branches 29085 29085
==========================================
Hits 13789 13789
- Misses 69501 69502 +1
Partials 14673 14673
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satoshi-ota
approved these changes
Apr 27, 2023
Mingyu1991
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Jun 26, 2023
…foundation#3549) Signed-off-by: Mingyu Li <mingyu.li@tier4.jp>
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Description
Currently, the external lane change module generates a path till the end of the path (till the goal). However, it prevents the ego vehicle from performing lane change at the end of the path. Therefore, I modified the code to enable the module to plan a path with a necessary buffer (= minimum lane change length).
Before PR
After PR
Tests performed
Scenario Result 1329/1330
TIER IV Internal Link
Effects on system behavior
External Lane change generates a path that has a buffer to reach the goal with another lane change.
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