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Hi @wangludong ,

Lane change main design is to reach the final goal by doing a series of lane changes if required.

from your question I understand that you want to avoid front obstacle using lane change ? that won't work.

First tune the parameter for obstacle avoidance using rollout trajectories. that could be achieved by adjusting parameters such as (minFollowingDistance, minDistanceToAvoid, maxDistanceToAvoid) for longitudinal movement, and (rollOutsNumber, rollOutDensity) for lateral movement.

Again, the lane change is set by op_global_planner. what the local planner does is making sure to not execute the lane change if an obstacle is blocking the target lane.

Hope this is useful.