feat(lane_change): reduce prepare duration when blinker has been activated #9185
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Signed-off-by: mohammad alqudah <[email protected]>
Signed-off-by: mohammad alqudah <[email protected]>
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planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/manager.cpp
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Signed-off-by: mohammad alqudah <[email protected]>
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Signed-off-by: mohammad alqudah <[email protected]>
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…ion' into RT1-8204-reduce-prepare-duration-when-blinker-has-been-activated Signed-off-by: mohammad alqudah <[email protected]>
Signed-off-by: mohammad alqudah <[email protected]>
…ion' into RT1-8204-reduce-prepare-duration-when-blinker-has-been-activated
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Description
Currently, a constant prepare duration (parameterized) is being used when generating LC path candidates, this was necessary because until recently turn signal was activated only after LC path was approved.
However, LC turn signal logic was recently changed to activate as soon as we have the intention to change lanes (i.e: when LC module is run). Therefore it is no longer necessary to have a constant long prepare duration, and we can reduce the prepare duration as the turn signal on duration increases.
Changes
signal_activation_time_toLaneChangeBaseclasslane_change_prepare_durationtoTransientDatastructcalc_actual_prepare_durationto calculate actual needed prepare duration based on current velocity and signal on durationupdate_transient_datato setlane_change_prepare_durationRelated links
How was this PR tested?
Notes for reviewers
None.
Interface changes
None.
ROS Parameter Changes
Additions and removals
min_prepare_durationdouble1.0lane_changing_decel_factordouble0.5Modifications
prepare_durationdouble4.0max_prepare_durationdouble4.0Effects on system behavior
When LC module activates, initially prepare duration will be max, as signal activation duration increases, prepare duration will be gradually reduced to minimum, allowing a shorter LC path to be found.