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 29.59% 29.60%
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Files 1442 1444 +2
Lines 108512 108558 +46
Branches 41409 41416 +7
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+ Hits 32119 32137 +18
- Misses 73269 73297 +28
Partials 3124 3124
*This pull request uses carry forward flags. Click here to find out more. ☔ View full report in Codecov by Sentry. |
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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]>
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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.