does apollo 6.0 has active lane chage algorithm to pass the car ahead（just in a relatievely low speed） in the lane follow scenario ？

[diaokaitian]

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System information

• OS Platform and Distribution (e.g., Linux Ubuntu 18.04):
• Apollo installed from (source ):
• Apollo version (6.0):
• Output of apollo.sh config if on master branch:

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[daohu527]

You mean relatievely low speed ? Then how can we keep the car following? If this function on, the car always wants to overtake or slow down

[diaokaitian]

thanks for your reply i mean if the car ahead is relatively lower than the ego car,can the ego car bypass the car ahead actively.

[chenxiaoying21]

You can refer to "PathLaneBorrowDecider" for this function. The ego vehicle need decide if it can borrow the lane first and then calculate the bypassing path.

[chenxiaoying21]

This issue is closed due to long time no reply.