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hatem-darweesh / autoware.ai.openplanner

The workspace for directly downloading and installing Autoware.AI versions with the latest OpenPlanner 2.5 updates
Apache License 2.0
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How will OpenPlanner-2.5 exchange lane if the start point and the goal point are in the same lane? #4

Closed quliang93 closed 2 years ago

quliang93 commented 2 years ago

Hi, Mr. Darweesh, I have a question about the OpenPlanner-2.5. Here it is: In OpenPlanner-2.5 global Planner part, if the start point and the end point are in the different lane, of course I open the enableLaneChange in Global Planner, we can see the different lanes(like 3 lanes in the same direction in moriyama map). And at that time, I open local planner and enbale "enable lane change", everything is fine, and the car can exchange lane.

But if the start point and end point are in the same lane, the car can only cruise in the current lane and can't change lane. Maybe I did something wrong or forget something to open in Runtime Manager? Like if we drive in the highway, and the car in front of me is driving too slow, and I want to overtake it and then turn back to my target lane. Is this implemented in New OpenPlanner-2.5(Maybe I forget something to open in Runtime Manager?)

Thank you for your time! With best wishes!

hatem-darweesh commented 2 years ago

@quliang93 The lane change feature only works to support going to goal. But it is not lane change feature. which is not included.

quliang93 commented 2 years ago

OK. Thank you for your reply.