Nowadays, I was too busy to program Lane Change algorithm in autonomous car. we have released 2.5 version and it's being on service in Daegu and Seoul. but before we release the version, there were a lot of issues which is concerned with Planning part that I need to handle.
Especially, I have to focus on low-acceleration issue at first. when my autonomous car stop at the stop line with other cars till the traffic light turns to green, my car go ahead slowly than other cars. it makes much space in front of my car and other cars often do lane change to the space. sometimes even other cars behind overtake our car with frustration.
Secondly, Literally it's Lane change function. we calculate the distance between my car and other car longitudinally before we do lane change. when my car thinks of the distance safe, it does lane change. but the calculate formula is bit ambiguous and I added some functions more called reckless mode, LC valid check.
I want to describe more about the functions but I don't want to be done suit so I can't. but someone interested who read this can contact me.
