refactor(lane_change): refactor extended object safety check #9322
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Signed-off-by: mohammad alqudah <[email protected]>
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Codecov ReportAttention: Patch coverage is
Additional details and impacted files@@ Coverage Diff @@
## main #9322 +/- ##
==========================================
- Coverage 29.29% 29.28% -0.01%
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Files 1334 1335 +1
Lines 102799 102830 +31
Branches 39962 39964 +2
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+ Hits 30116 30118 +2
- Misses 69721 69751 +30
+ Partials 2962 2961 -1
*This pull request uses carry forward flags. Click here to find out more. ☔ View full report in Codecov by Sentry. |
planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp
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…nge_module/src/scene.cpp Co-authored-by: Zulfaqar Azmi <[email protected]>
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Description
Currently when creating extended objects in lane change module, lane change prepare duration is assumed to be fixed (parameterized value).
In situations where the prepare duration used for candidate path generation does not match the assumed fixed value, such as when sampling multiple prepare durations near terminal, the mismatch can result in incorrect result for collision check causing an unsafe path to be approved.
This PR fixes the issue by refactoring extended object generation code and collision check code to work for candidate paths with varying prepare durations.
Changes
transformto generate predicted object polygons for the entire durationis_collidedto filter the predicted object polygons based on the prepare duration of the candidate path being checked.Related links
None.
How was this PR tested?
Notes for reviewers
None.
Interface changes
None.
Effects on system behavior
None.