feat(lane_change): cancel hysteresis #844
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Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
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satoshi-ota
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Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
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chore: sync upstream
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Description
Adding hysteresis to lane change cancel.
Previously, once lane change path is approved, if it is unsafe, the module will cancel the path immediately.
Problem with current method
If there are chances that the approval chatters due to the path being safe and unsafe often.
This might be caused by the dismal positional differences between ego and target objects at every time instance.
What this PR do
With this new feature, the path will only be cancelled if the number of unsafe count exceed
unsafe_hysteresis_threshold.Related links
Tests performed
Notes for reviewers
Interface changes
Effects on system behavior
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