fix(lane_change): fix state transition in lane change for multiple module cooperation #4836
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…dule cooperation Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>
rej55
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kosuke55,
kyoichi-sugahara,
satoshi-ota,
shmpwk,
taikitanaka3,
TakaHoribe,
takayuki5168,
tkimura4,
purewater0901 and
zulfaqar-azmi-t4
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satoshi-ota
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Aug 31, 2023
planning/behavior_path_planner/include/behavior_path_planner/planner_manager.hpp
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Codecov ReportPatch coverage:
Additional details and impacted files@@ Coverage Diff @@
## main #4836 +/- ##
==========================================
+ Coverage 15.11% 15.19% +0.08%
==========================================
Files 1573 1573
Lines 108363 108692 +329
Branches 33278 33500 +222
==========================================
+ Hits 16382 16520 +138
- Misses 74126 74218 +92
- Partials 17855 17954 +99
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satoshi-ota
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Sep 1, 2023
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Description
Before this change, reference path may be suddenly changed if the lane change module aborted while avoidance module running.
To fix this problem, I changed the state transition of lane change module and updating root lanelet function.
Related links
Tests performed
TIER IV INTERNAL TEST
Tested in planning simulator.
cap-.2023-08-31-18-47-23.mp4
Notes for reviewers
Interface changes
Not applicable.
Effects on system behavior
Suddenly changing of reference path is fixed.
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