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docs(lane_change): update lane change documentation #9949

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docs(lane_change): update lane change documentation #9949

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mkquda
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@mkquda mkquda commented Jan 17, 2025 •
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Description

This PR updates lane change documentation to ensure it is aligned with recent changes in the code. The following changes were made:

  • update lane change requirements documentation
  • update candidate path generation documentation
  • update prepare phase and lane changing phase documentation
  • update longitudinal acceleration sampling documentation
  • add prepare duration sampling documentation
  • update candidate path validity and safety documentation
  • add overtaking turn lane object documentation
  • remove unused function getNumToPreferredLane()

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None.

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None.

Effects on system behavior

None.

mkquda added 7 commits January 16, 2025 17:18
@mkquda
update lane change requirements documentation
0fdade5 
Signed-off-by: mohammad alqudah <[email protected]>
@mkquda
remove unused function getNumToPreferredLane
38ddfb6 
Signed-off-by: mohammad alqudah <[email protected]>
@mkquda
update candidate path generation documentation
28f5368 
Signed-off-by: mohammad alqudah <[email protected]>
@mkquda
update prepare phase and lane changing phase documentation
5fbd971 
Signed-off-by: mohammad alqudah <[email protected]>
@mkquda
update longitudinal acceleration sampling documentation
0bb1229 
Signed-off-by: mohammad alqudah <[email protected]>
@mkquda
add prepare duration sampling documentation
010f8b0 
Signed-off-by: mohammad alqudah <[email protected]>
@mkquda
update candidate path validity and safety documentation
e7d4884 
Signed-off-by: mohammad alqudah <[email protected]>
@github-actions github-actions bot added type:documentation Creating or refining documentation. (auto-assigned) component:planning Route planning, decision-making, and navigation. (auto-assigned) labels Jan 17, 2025
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github-actions bot commented Jan 17, 2025 •
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Thank you for contributing to the Autoware project!

🚧 If your pull request is in progress, switch it to draft mode.

Please ensure:

@mkquda mkquda added run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) run:deploy-docs Mark for deploy-docs action generation. (used-by-ci) labels Jan 17, 2025
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Documentation URL: https://autowarefoundation.github.io/autoware.universe/pr-9949/
Modified URLs:

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codecov bot commented Jan 17, 2025 •
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Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 29.47%. Comparing base (b7b3dd6) to head (a3dcb9d).
Report is 7 commits behind head on main.

Additional details and impacted files 
@@            Coverage Diff             @@
##             main    #9949      +/-   ##
==========================================
+ Coverage   29.18%   29.47%   +0.28%     
==========================================
  Files        1410     1425      +15     
  Lines      107239   107904     +665     
  Branches    42481    42825     +344     
==========================================
+ Hits        31300    31803     +503     
- Misses      72720    73033     +313     
+ Partials     3219     3068     -151
Flag Coverage Δ *Carryforward flag
differential 21.29% <ø> (?)
total 29.47% <ø> (+0.29%) ⬆️ Carriedforward from 94db0b3

*This pull request uses carry forward flags. Click here to find out more.

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mkquda added 3 commits January 17, 2025 10:56
@mkquda
fix formatting
c93481c 
Signed-off-by: mohammad alqudah <[email protected]>
@mkquda
update image and fix formatting
a9f8e76 
Signed-off-by: mohammad alqudah <[email protected]>
@mkquda
add overtaking turn lane documentation
071d6cc 
Signed-off-by: mohammad alqudah <[email protected]>
@mkquda mkquda changed the title doce(lane_change): update lane change documentation docs(lane_change): update lane change documentation Jan 17, 2025
maxime-clem
maxime-clem approved these changes Jan 17, 2025
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Looks good apart from some minor typos

planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md Outdated Show resolved Hide resolved
planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md Outdated Show resolved Hide resolved
planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md Outdated Show resolved Hide resolved
planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md Outdated Show resolved Hide resolved
zulfaqar-azmi-t4
zulfaqar-azmi-t4 reviewed Jan 21, 2025
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planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md Outdated
```

The `backward_length_buffer_for_end_of_lane` is added to allow some window for any possible delay, such as control or mechanical delay during brake lag.

#### Multiple candidate path samples (longitudinal acceleration)
#### Multiple candidate path samples (prepare duration)
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Need to put a warning, shorter prepare duration will reduced the "window" for cancel.

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Link to this part of the doc https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/#evaluating-ego-vehicles-position-to-prevent-abrupt-maneuvers

mkquda added 3 commits January 21, 2025 14:51
@mkquda
reorganize lane change documentation
f1541d9 
Signed-off-by: mohammad alqudah <[email protected]>
@mkquda
fix section title
94db0b3 
Signed-off-by: mohammad alqudah <[email protected]>
@mkquda
add global flowchart description
a3dcb9d 
Signed-off-by: mohammad alqudah <[email protected]>
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@maxime-clem maxime-clem maxime-clem approved these changes

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component:planning Route planning, decision-making, and navigation. (auto-assigned) run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) run:deploy-docs Mark for deploy-docs action generation. (used-by-ci) type:documentation Creating or refining documentation. (auto-assigned)
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