feat(out_of_lane): add option to ignore overlaps in lane changes #6991
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Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>
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…owarefoundation#6991) Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>
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Description
Add an option to ignore all lanelets adjacent to the path lanelets where a lane change is possible. This prevents the
out_of_lanefrom triggering stops during avoidance where the ego vehicle will overlap the adjacent lane.Requires the launch PR: autowarefoundation/autoware_launch#986
Tests performed
Psim and bag replay.
Evaluator (TIER IV INTERNAL LINK): https://evaluation.tier4.jp/evaluation/reports/659253fa-a67a-5341-a576-50afe030c401?project_id=prd_jt
Effects on system behavior
Reduce wrong stops caused by the
out_of_lanemodule.Interface changes
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