From ab53673f804c2e973d01f7ebac321f34b6860071 Mon Sep 17 00:00:00 2001 From: Zulfaqar Azmi Date: Mon, 6 Jan 2025 19:43:29 +0900 Subject: [PATCH] readme Signed-off-by: Zulfaqar Azmi --- .../autoware_behavior_path_lane_change_module/README.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md index 2c304f145305d..bc1a6fee55459 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/README.md @@ -890,9 +890,9 @@ Additionally if terminal path feature is enabled and path is computed, stop poin Generating path using Frenet planner applies only when ego is near terminal start -If the ego vehicle is far from the terminal, the lane change module defaults to using the path shifter. This ensures that the lane change is completed while the target lane remains a neighbor of the current lane. However, this approach may result in high curvature paths near the terminal, potentially causing long vehicles to deviate from the lane. +If the ego vehicle is far from the terminal, the lane change module defaults to using the [path shifter](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_planner_common/docs/behavior_path_planner_path_generation_design/). This ensures that the lane change is completed while the target lane remains a neighbor of the current lane. However, this approach may result in high curvature paths near the terminal, potentially causing long vehicles to deviate from the lane. -To address this, the lane change module provides an option to choose between the path shifter and the Frenet planner. The Frenet planner allows for some flexibility in the lane change endpoint, extending the lane changing end point slightly beyond the current lane's neighbors. +To address this, the lane change module provides an option to choose between the path shifter and the [Frenet planner](https://autowarefoundation.github.io/autoware.universe/main/planning/sampling_based_planner/autoware_frenet_planner/). The Frenet planner allows for some flexibility in the lane change endpoint, extending the lane changing end point slightly beyond the current lane's neighbors. The following table provides comparisons between the planners