When re-routed due to an upcoming 'Closed Lane' geofence, routing logic should plan a lane change in the lanelet(s) that immediately follow 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 starting point of the lane change after exiting the geofence must occur between 0 and 15.25 meters (0 to 50 feet) after the geofence exit. To consistently achieve this, routing logic should plan for a lane change to occur in the lanelet that immediately follows the lanelet(s) with 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 starting point of the lane change after exiting the geofence.

Related work