When re-routed due to an upcoming 'Closed Lane' geofence, routing logic should plan its lane merge/change in the lanelet(s) that immediate precede the geofence.

[JonSmet]

Types of Issue

• [ ] Anomaly report (something appears to not work correctly)
• [x] Enhancement request (describe the enhancement being requested)
• [ ] Other (please ensure the description clarifies why the issue doesn’t fall into either of the above categories)

Descriptive summary

One metric that is evaluated for TIM and RWM use cases requires that the end point of the lane merge prior to entering a geofence must occur between 0 and 15.25 meters (0 to 50 feet) from the geofence entrance. To consistently achieve this, routing logic should plan for a lane merge/change to occur in the lanelet that immediately precedes the geofence, if possible.

Carma version where this issue was discovered

Zephyr

Expected behavior

Actual behavior

Steps to reproduce the actual behavior

1. Conduct the TIM or RWM Use Case (or a similar test setup)
2. Verify the end point of the lane merge prior to the geofence after following the re-routed route.

Related work