16.3.11
Description
Abstract
The matchToLane function selects the nearest lanelet but doesn't use absolute distances, often picking the left lane. Using absolute values fixes this issue.
Background
Details
matchToLane function returns the nearest lanelet id which match to the current pose, but it is not sorting the distance in absolute value so the smallest distance will be the lanelet with the largest negative value.(Which is usually left lane). By taking the absolute value, the matching function will be fixed.