fix(lane_change): moving object is filtered in the extended target lanes #8218
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planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp
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Codecov ReportAttention: Patch coverage is
Additional details and impacted files@@ Coverage Diff @@
## main #8218 +/- ##
==========================================
- Coverage 23.88% 23.87% -0.01%
==========================================
Files 1380 1381 +1
Lines 101833 101878 +45
Branches 38776 38782 +6
==========================================
+ Hits 24320 24321 +1
- Misses 75009 75053 +44
Partials 2504 2504
*This pull request uses carry forward flags. Click here to find out more. ☔ View full report in Codecov by Sentry. |
Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
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…nes (autowarefoundation#8218) * object 3rd Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * named param Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> --------- Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
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…nes (autowarefoundation#8218) * object 3rd Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * named param Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> --------- Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> Signed-off-by: xtk8532704 <1041084556@qq.com>
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Description
When filtering lane change target objects, the objects that is close to target lanes' bound is considered as target objects. This is to prevent ego from lane change too near to the object. However, if the object is not moving, we don't really need to consider them as the target object.
Before PR
cap-.2024-07-26-16-24-03.mp4
After PR
cap-.2024-07-26-16-35-34.mp4
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Notes for reviewers
None.
Interface changes
None.
Effects on system behavior
None.