Plexe: Improved whole-platoon lane change procedure #14395
Merged
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Signed-off-by: Michele Segata <segata@ccs-labs.org>
Signed-off-by: Michele Segata <segata@ccs-labs.org>
|
Happy to see you're still working on this! |
|
Oh yes, I'm always trying to do so! :) Unfortunately not much time is available, but I'm trying to keep stuff up to date! |
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
This pull request improves the lane change behavior of a whole platoon, which was known to cause collisions in some specific cases. In the updated code, the leader checks for lane change safety conditions by invoking the
getNeighbors()method with the safety bit enabled. Only if all members agree on lane change safety the maneuver is performed.In addition, a new API to safely move the platoon to a specific lane upon user request has been implemented.