feat(out_of_lane): ignore lanelets beyond the last path point #1554
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Signed-off-by: Maxime CLEMENT <[email protected]>
maxime-clem
requested review from
shmpwk,
takayuki5168 and
tkimura4
as code owners
|
maxime-clem
changed the base branch from
beta/v0.19.1
to
beta/v0.19.1-pc-develop
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Description
Fix issue where the lanelets at the end of the path were considered as "out of lane", causing wrong stops.
An similar fix is being added to the
mainbranch with this PR: autowarefoundation#8870Because the implementation on
mainis very different (moved frombehavior_velocity_plannertomotion_velocity_planner, new logic, etc), this fix cannot be cherry-picked.Related links
Parent Issue:
Private Links:
How was this PR tested?
Perception replayer + Psim.
Notes for reviewers
None.
Interface changes
None.
Effects on system behavior
None.