feat(lane_change): add param for lateral angle deviation #1087
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Signed-off-by: Zulfaqar Azmi <[email protected]>
Signed-off-by: Zulfaqar Azmi <[email protected]>
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…ndation#1087) * RT1-6514 adding lateral angle deviation param Signed-off-by: Zulfaqar Azmi <[email protected]> * decrease angle deviation threshold to fix rtc issue Signed-off-by: Zulfaqar Azmi <[email protected]> --------- Signed-off-by: Zulfaqar Azmi <[email protected]>
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…ndation#1087) * RT1-6514 adding lateral angle deviation param Signed-off-by: Zulfaqar Azmi <[email protected]> * decrease angle deviation threshold to fix rtc issue Signed-off-by: Zulfaqar Azmi <[email protected]> --------- Signed-off-by: Zulfaqar Azmi <[email protected]>
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Description
Current lane change finish judge requires both of the following condition
However, in situation when lc is running simultaneously with other module especially avoidance module, it will be difficult to pass both condition at the same time. Furthermore, passing both situation is unnecessary.
Before PR, the following simulation will not cause lane change to complete. The video is after PR is made.
cap-.2024-05-30-19-14-35.mp4
Tests performed
Not applicable.
Effects on system behavior
Not applicable.
Interface changes
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