From f6be5b24462f0311c351105c2ae7a7f52c42b454 Mon Sep 17 00:00:00 2001 From: Muhammad Zulfaqar Azmi Date: Tue, 5 Mar 2024 19:31:55 +0900 Subject: [PATCH] Explaining lane expansion Signed-off-by: Muhammad Zulfaqar Azmi --- .../behavior_path_lane_change_module/README.md | 11 +++++++++++ .../images/lane_change-lane_expansion-with.png | Bin 0 -> 25187 bytes .../lane_change-lane_expansion-without.png | Bin 0 -> 25525 bytes 3 files changed, 11 insertions(+) create mode 100644 planning/behavior_path_lane_change_module/images/lane_change-lane_expansion-with.png create mode 100644 planning/behavior_path_lane_change_module/images/lane_change-lane_expansion-without.png diff --git a/planning/behavior_path_lane_change_module/README.md b/planning/behavior_path_lane_change_module/README.md index b26ec56cbb29e..b37e76e3c052e 100644 --- a/planning/behavior_path_lane_change_module/README.md +++ b/planning/behavior_path_lane_change_module/README.md @@ -298,6 +298,17 @@ First, we divide the target objects into obstacles in the target lane, obstacles Furthermore, to change lanes behind a vehicle waiting at a traffic light, we skip the safety check for the stopping vehicles near the traffic light. The explanation for parked car detection is written in [documentation for avoidance module](../behavior_path_avoidance_module/README.md). +The detection area for the target lane can be expanded beyond its original boundaries to enable detection of objects that are outside the target lane's limits. + +
+ + + + + +
Without lane expansionWith lane expansion
+
+ ##### Collision check in prepare phase The ego vehicle may need to secure ample inter-vehicle distance ahead of the target vehicle before attempting a lane change. The flag `enable_collision_check_at_prepare_phase` can be enabled to gain this behavior. 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