From 343e2129ca7b82dde3b041d4112f6fcc9a127d76 Mon Sep 17 00:00:00 2001 From: Muhammad Zulfaqar Azmi Date: Tue, 5 Mar 2024 17:23:15 +0900 Subject: [PATCH] Add prerequisite in the requirement Signed-off-by: Muhammad Zulfaqar Azmi --- planning/behavior_path_lane_change_module/README.md | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/planning/behavior_path_lane_change_module/README.md b/planning/behavior_path_lane_change_module/README.md index f55965d05d492..2ac47ee06108a 100644 --- a/planning/behavior_path_lane_change_module/README.md +++ b/planning/behavior_path_lane_change_module/README.md @@ -4,6 +4,10 @@ The Lane Change module is activated when lane change is needed and can be safely ## Lane Change Requirement +- As the prerequisite, the type of lane boundary in the HD map has to be one of the following: + - Dashed lane marking: Lane changes are permitted in both directions. + - Dashed marking on the left and solid on the right: Lane changes are allowed from left to right. + - Dashed marking on the right and solid on the left: Lane changes are allowed from right to left. - During lane change request condition - The ego-vehicle isn’t on a `preferred_lane`. - There is neither intersection nor crosswalk on the path of the lane change