After a lane change is complete, the planner will generate a new reference path based on the new lane.
All predictions and transformations need to be recomputed (second time) in the same planning cycle before the maneuver model is called.
However, the traffic is projected to a new predicted state that was based on the last motion plan, which can only be used with the previous reference path.
The new planner state needs to be computed differently (if it's the second time). Either rollback and recompute, or correct to new path.
After a lane change is complete, the planner will generate a new reference path based on the new lane. All predictions and transformations need to be recomputed (second time) in the same planning cycle before the maneuver model is called.
However, the traffic is projected to a new predicted state that was based on the last motion plan, which can only be used with the previous reference path.
The new planner state needs to be computed differently (if it's the second time). Either rollback and recompute, or correct to new path.