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fix(lane_change): current lane obj treated as target lane obj #5214
fix(lane_change): current lane obj treated as target lane obj #5214
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Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
Codecov ReportAttention:
Additional details and impacted files@@ Coverage Diff @@
## main #5214 +/- ##
==========================================
- Coverage 14.80% 14.76% -0.05%
==========================================
Files 1648 1648
Lines 113860 115471 +1611
Branches 35049 36179 +1130
==========================================
+ Hits 16861 17050 +189
- Misses 78081 79349 +1268
- Partials 18918 19072 +154
*This pull request uses carry forward flags. Click here to find out more.
☔ View full report in Codecov by Sentry. |
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LGTM!
dd275bf
into
autowarefoundation:main
…refoundation#5214) Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
…refoundation#5214) Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
…refoundation#5214) Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
Description
🤖 Generated by Copilot at aef3324
Fix a bug in
normal.cpp
that could cause incorrect lane change behavior. Add a check to see if the target backward lane is in the current lanes of the ego vehicle.Since target object filter is prioritized, the object in current lane may be classified as target lane object, and we wouldn't want this behavior.
Before PR
Current lanes object is misclassified as target lane object (blue cube == target lane object)
After PR
Current lanes object is treated correctly.
Tests performed
Not applicable.
Effects on system behavior
Not applicable.
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