4.5.0
Description
Abstract
This pull-request extends the default matching distance offset for lanelet matching for ego and vehicle entities, from 1.0m to 1.5m.
Background
In some scenarios, ego or vehicle entities during lane change lost matching to lanelet.
This is not a matter at traffic_simulator, but for BehaviorTree actions especially FollowFrontEntityAction.
Normally, if you cut in front of a vehicle entity, it will slow down due to the action of FollowFrontEntityAction.
But it does not slow down when crossing entity losts a lanelet-matching because FollowFrontEntityAction don't recognize lanelet-matching-less entities as front entities.
Important
This lost of lanelet matching mainly comes from a lack of default matching distance.
So, I will extend it in this pull-request.
Details
Before
The red stopline by FollowFrontEntityAction is lost for a moment when ego is cutting in.
shoulder_matching_1m.webm
After
The red stopline by FollowFrontEntityAction is NOT lost for a moment when ego is cutting in.
shoulder_matching_2m.webm
References
Destructive Changes
This pull-request could mean lane matching will now happen in places where it wasn't possible before, which is a good thing.
However, increasing this matching distance caused more failures in internal scenarios, especially since it allowed distance measurements in places where distance measurements in the lane coordinate system were NaN. This is why the increment is only 0.5m.