feat(lane_change): expand target lanes for object filtering #601
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Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
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…undation#601) * feat(autoware_launch): visualize multiple candidate paths Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> * feature(autoware_launch): fix name space in autoware.rviz Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>
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…foundation#601) Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
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…utowarefoundation#601) Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>
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…utowarefoundation#601) Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>
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Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
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chore: sync awf-latest
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Description
Add lane expansion parameters and logic for object filtering in lane change module. This improves safety check by allowing user to determine if they want to consider slightly out of lane object as target.
Note:
Purple cube: other lane object
Aqua cube: target lane object
Yellow cube: current lane object
Before PR
After PR
Left Expansion with additional 1 m
Left Expansion with additional 10 m
Right Expansion
Related links
autowarefoundation/autoware.universe#5167
Tests performed
Notes for reviewers
Interface changes
Effects on system behavior
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