'overlapping' means that the vehicle would violate it's own minGap requirement or that of its follower vehicle or even crash physically when changing to the target lane at the current time.
(This means lane changing is blocked regardless of the lcAssertive value).
The stopping position was chosen heuristically based on the following criteria
- distance that can be driven before a lane change is necessary
- driving speed of the ego vehicle averaged over multiple time steps
- traffic density on the target lane
- speeds and gaps to the immediate leader and follower vehicles
In the above image I would guess that there was a "promising" gap between the third and fourth vehicle on the target lane but unfortunately the third vehicle is standing too far back to let the lane change succeed.
Questions to ask for this scenario:
- how did the ego vehicle end up on this lane? Could it have entered the target lane earlier?
- is the left turn phase sufficiently long to handle the observed volume of left-turning traffic?
regards,
Jakob
