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fix(behavior_path_planner): check lane departure and relative angle f…
…or lane change (#202) * fix(behavior_path_planner): check lane departure and relative angle for lane change (autowarefoundation#2379) (#192) * fix(behavior_path_planner): check lane departure and relative angle for lane change (autowarefoundation#2379) Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> * feat: extend lanes for lane_departure_checker Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> * fix: extend lanes Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> * feat: expand lane Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com> * fix(behavior_path_planner): fix lane change path validation (autowarefoundation#2421) * fix(behavior_path_planner): clip_path_for_goal Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> * fix(behavior_path_planner): clip path for validation Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> * fix(behavior_path_planner): use path point only to check lane departure Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> * fix(behavior_path_planner): remove unnecessary change Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com> Co-authored-by: Fumiya Watanabe <rej55.g@gmail.com>
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