fix(lane_change): cherry-pick several lane change commits #1300
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…tion#6561) * fix(lane_change): check prepare phase in intersection Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * Add new parameter, also create function Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * Rename parameters Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * fix spell check * fix config file Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * call the function check_prepare_phase only once Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * add parameter description in README Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * minor refactoring Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * Doxygen description Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> --------- Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
…efoundation#6722) Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
…ndation#6734) Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
…arefoundation#6726) * feat(lane_change): check prepare phase in turn direction lanes Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * Doxygen comment Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * Add config Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * fix comments by the reviewer Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> --------- Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
…arefoundation#6760) * feat(lane_change): use external velocity limit in safety check Signed-off-by: Muhammad Zulfaqar <zulfaqar.azmi@tier4.jp> * style(pre-commit): autofix * Minor refactoring Signed-off-by: Muhammad Zulfaqar <zulfaqar.azmi@tier4.jp> * Fix spell check and remove headers Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * Add warning Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> --------- Signed-off-by: Muhammad Zulfaqar <zulfaqar.azmi@tier4.jp> Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
…utowarefoundation#6784) * refactor(lane_change): make return previous output a common function Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * Replace all prev module's variable Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * fix build error in ablc Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * slight refactoring Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> --------- Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
…arefoundation#6845) Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
…tion#6931) Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
…utowarefoundation#6943) * refactor(lane_change): move getCurrentTurnSignalInfo to scene file Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * style(pre-commit): autofix * removed reference from trivial variable Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> --------- Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
…n#6930) Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
* refactor(lane_change): rework object filter Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * Use preceeding lanes Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * style(pre-commit): autofix * fix preceding lanes Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * Adds flow chart Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * prioritize on coming object check instead Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * Fix flow chart and rearrange code to early return Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * Colorize flow chart Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> --------- Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
zulfaqar-azmi-t4
requested review from
danielsanchezaran,
kosuke55,
kyoichi-sugahara,
soblin,
satoshi-ota,
shmpwk,
TomohitoAndo,
tkimura4,
rej55,
maxime-clem,
TakaHoribe and
takayuki5168
as code owners
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Description
https://github.com/tier4/autoware_launch.xx1/pull/852
cherry pick several lane change commits
Related links
Tests performed
Run it with PSIM
Notes for reviewers
Interface changes
There's new parameter changes
into
Effects on system behavior
Lane change cancel is more conservative when ego vehicle is making turns or in the intersections.
Lane change now ignores any object that has orientation difference > 90 degree
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