Question about lane_change and lane_borrow

ApolloAuto / apollo

An open autonomous driving platform

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Question about lane_change and lane_borrow #15564

Open dajiba6 opened 4 weeks ago

dajiba6 commented 4 weeks ago

Why is there an IsClearToChangeLane check to determine whether a lane change is possible, while there isn’t one for lane borrowing? Why doesn’t lane change delegate the handling of avoiding dynamic obstacles to speed planning?