Add PerformLaneChangeControlStrategy

MantleAPI/include/MantleAPI/Map/i_lane_location_query_service.h

@@ -68,8 +68,16 @@ public:
   ///@param lateral_offset  Lateral offset to the target lane
   ///@return Pose that is at the given distance from reference_pose_on_lane in a relative lane. The new orientation is parallel to the lane orientation at the target position.
   virtual std::optional<Pose> FindRelativeLanePoseAtDistanceFrom(const Pose& reference_pose_on_lane, int relative_target_lane, units::length::meter_t distance, units::length::meter_t lateral_offset) const = 0;
+
+  /// @brief Calculate the lane id of the relative target lane from a given position
+  ///
+  ///@param reference_pose_on_lane  Starting position. Must be on a lane.
+  ///@param relative_target_lane  Shift of the target position in number of lanes relative to the lane where the reference pose is located. Positive to the left, negative to the right.
+  ///@return Lane id that is at the given lateral shift (relative_lane_target) from given position (reference_pose_on_lane).
+  ///        No value, if reference pose is not on a lane or if the lane doesn't have a suitable adjacent lane
+  virtual std::optional<mantle_api::UniqueId> GetRelativeLaneId(const mantle_api::Pose& reference_pose_on_lane, int relative_lane_target) const = 0;
 };
 
 }  // namespace mantle_api
 
-#endif  // MANTLEAPI_MAP_ILANELOCATIONQUERYSERVICE_H
+#endif  // MANTLEAPI_MAP_ILANELOCATIONQUERYSERVICE_H
\ No newline at end of file

[Jupp Tscheak]

Just as a small note, this interface function might be much more useful in context of an IRoute. If succeeding tracks don't have the same orientation as reference_pose_on_lane, the semantic meaning of left and right will change.