fix(lane_change_module): fix planning factor issue #10244
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mkquda
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…ange lane Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp>
Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp>
Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp>
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Description
There is an issue of LC planning factor showing large negative values as shown below.
This is caused by:
1- Incorrect activation of LC module when Ego is on preferred lane
2- Incorrect call to
LaneChangeInterface::plan()function while LC is still in IDLE state3- Incorrect setting of stop point on target lane when not necessary
This PR resolves the above 3 points.
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How was this PR tested?
Notes for reviewers
None.
Interface changes
None.
Effects on system behavior
None.