fix(lane_change): remove overlapping preceding lanes #9526
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Codecov ReportAttention: Patch coverage is
Additional details and impacted files@@ Coverage Diff @@
## main #9526 +/- ##
=======================================
Coverage 29.54% 29.55%
=======================================
Files 1443 1445 +2
Lines 108489 108537 +48
Branches 41391 41399 +8
=======================================
+ Hits 32055 32073 +18
- Misses 73323 73353 +30
Partials 3111 3111
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Signed-off-by: Zulfaqar Azmi <[email protected]>
Signed-off-by: Zulfaqar Azmi <[email protected]>
Signed-off-by: Zulfaqar Azmi <[email protected]>
Signed-off-by: Zulfaqar Azmi <[email protected]>
Signed-off-by: Zulfaqar Azmi <[email protected]>
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Signed-off-by: Zulfaqar Azmi <[email protected]>
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…ion#9526) * fix(lane_change): remove overlapping preceding lanes Signed-off-by: Zulfaqar Azmi <[email protected]> * fix cpp check Signed-off-by: Zulfaqar Azmi <[email protected]> * start searching disconnected lanes directly Signed-off-by: Zulfaqar Azmi <[email protected]> * just remove starting from overlapped found Signed-off-by: Zulfaqar Azmi <[email protected]> * return non reversed lanes Signed-off-by: Zulfaqar Azmi <[email protected]> * fix precommit Signed-off-by: Zulfaqar Azmi <[email protected]> --------- Signed-off-by: Zulfaqar Azmi <[email protected]>
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Description
When the lanes are short, the preceding lane might overlap with the current lanes, as shown in the video below.
This could potentially affect the safety check results. To avoid this, we should remove the overlapping lane.
Before
Preceding lanes (Dark blue lanes) overlap current lanes.
cap-.2024-11-29-19-26-53.mp4
After
Preceding lanes no longer overlaps current lanes.
cap-.2024-11-29-19-24-40.mp4
Related links
Parent Issue:
How was this PR tested?
Notes for reviewers
None.
Interface changes
None.
Effects on system behavior
None.