fix(lane_change): check obj predicted path when filtering #9385
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Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
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Description
If there’s object that crosses predicted target lanes but it is not in target lane or target preceding lane, then the object will be treated as other lane object and will be ignored.
This PR aims to fix this.
Before PR
The following video shows the use case.
If the object is not in cyan lane (current) or blue (target preceding), then it will be considered as others object (purple cube).
cap-.2024-11-19-18-13-39.mp4
With PR
Object is now considered as target lane leading object (cyan cube)
cap-.2024-11-19-17-55-12.mp4
Related links
Parent Issue:
How was this PR tested?
Notes for reviewers
None.
Interface changes
None.
Effects on system behavior
None.