diff --git a/planning/behavior_path_lane_change_module/README.md b/planning/behavior_path_lane_change_module/README.md index b26ec56cbb29e..b37e76e3c052e 100644 --- a/planning/behavior_path_lane_change_module/README.md +++ b/planning/behavior_path_lane_change_module/README.md @@ -298,6 +298,17 @@ First, we divide the target objects into obstacles in the target lane, obstacles Furthermore, to change lanes behind a vehicle waiting at a traffic light, we skip the safety check for the stopping vehicles near the traffic light. The explanation for parked car detection is written in [documentation for avoidance module](../behavior_path_avoidance_module/README.md). +The detection area for the target lane can be expanded beyond its original boundaries to enable detection of objects that are outside the target lane's limits. + +
+ + + + + +
Without lane expansionWith lane expansion
+
+ ##### Collision check in prepare phase The ego vehicle may need to secure ample inter-vehicle distance ahead of the target vehicle before attempting a lane change. The flag `enable_collision_check_at_prepare_phase` can be enabled to gain this behavior. The following image illustrates the differences between the `false` and `true` cases. diff --git a/planning/behavior_path_lane_change_module/images/lane_change-lane_expansion-with.png b/planning/behavior_path_lane_change_module/images/lane_change-lane_expansion-with.png new file mode 100644 index 0000000000000..1793eb8f6e691 Binary files /dev/null and b/planning/behavior_path_lane_change_module/images/lane_change-lane_expansion-with.png differ diff --git a/planning/behavior_path_lane_change_module/images/lane_change-lane_expansion-without.png b/planning/behavior_path_lane_change_module/images/lane_change-lane_expansion-without.png new file mode 100644 index 0000000000000..6b440d862c7ac Binary files /dev/null and b/planning/behavior_path_lane_change_module/images/lane_change-lane_expansion-without.png differ