fix(lane_change): cap ego's predicted path velocity (RT1-8505) #9341
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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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Codecov ReportAll modified and coverable lines are covered by tests ✅
Additional details and impacted files@@ Coverage Diff @@
## main #9341 +/- ##
==========================================
+ Coverage 29.50% 29.51% +0.01%
==========================================
Files 1441 1443 +2
Lines 108596 108614 +18
Branches 41502 41501 -1
==========================================
+ Hits 32038 32058 +20
+ Misses 73438 73436 -2
Partials 3120 3120
*This pull request uses carry forward flags. Click here to find out more. ☔ View full report in Codecov by Sentry. |
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…arefoundation#9341) * fix(lane_change): cap ego's predicted path velocity (RT1-8505) Signed-off-by: Zulfaqar Azmi <[email protected]> * properly cap based on 0.0 instead of min lc vel Signed-off-by: Zulfaqar Azmi <[email protected]> * fix build error Signed-off-by: Zulfaqar Azmi <[email protected]> --------- Signed-off-by: Zulfaqar Azmi <[email protected]>
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…arefoundation#9341) * fix(lane_change): cap ego's predicted path velocity (RT1-8505) Signed-off-by: Zulfaqar Azmi <[email protected]> * properly cap based on 0.0 instead of min lc vel Signed-off-by: Zulfaqar Azmi <[email protected]> * fix build error Signed-off-by: Zulfaqar Azmi <[email protected]> --------- Signed-off-by: Zulfaqar Azmi <[email protected]>
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…arefoundation#9341) * fix(lane_change): cap ego's predicted path velocity (RT1-8505) Signed-off-by: Zulfaqar Azmi <[email protected]> * properly cap based on 0.0 instead of min lc vel Signed-off-by: Zulfaqar Azmi <[email protected]> * fix build error Signed-off-by: Zulfaqar Azmi <[email protected]> --------- Signed-off-by: Zulfaqar Azmi <[email protected]>
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Description
the current ego predicted path velocity doesn’t have any maximum limit put into it.
However, it should have limit, since for each lane change path, there is prepare velocity and lane changing velocity assigned to it.
With the current computation, the velocity might exceed prepare velocity and lane changing velocity.
Before
The polygon is longer.
After
The size of the polygon is reduced.
Related links
Parent Issue:
How was this PR tested?
Notes for reviewers
None.
Interface changes
None.
Effects on system behavior
None.