feat(lane_change): check prepare phase in turn direction lanes #943
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zulfaqar-azmi-t4
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Apr 2, 2024
Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
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chore: sync beta upstream
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Description
universe:feat(lane_change): check prepare phase in turn direction lanes #6726
Make lane change check more stricter in when performing lane change after making a turn.
This is done by performing collision check in the prepare phase.
Before PR
cap-.2024-04-02-19-06-44.mp4
After PR
success.mp4
Tests performed
Not applicable.
Effects on system behavior
Not applicable.
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