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obstacle_stop_planner
does not revert its avoidance path after the avoided obstacle is gone.
#2272
Comments
FYI: This function is not in obstacle_stop_planner but avoidance module in behavior_path_planner @satoshi-ota Indeed, this function seems necessary in some cases. You don't have a plan to implement this function for now? |
@VRichardJP There is currently no function to cancel/revert avoidance path when it is no longer necessary, so this is how it would behave in the scene described above. I am currently working on developing a function that takes into account vehicles in adjacent lanes when avoiding, and if it is not safe to follow avoidance path right now, the vehicle stops behind the avoidance target and lets the adjacent lane's vehicle pass over, so I will consider this function together. Of course, if you would like to implement revert function in avoidance module as soon as possible, your contributions are welcome 😄 |
@satoshi-ota I am not well versed in the planning logic, but if I find the time I'll try to implement it. |
@satoshi-ota @VRichardJP This issue had caught my attention before, and I did a little research on it. I think the problem is that the autoware.universe/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp Lines 97 to 114 in 29e8b43
I'm checking the object data from the 2022-11-17.13-39-55.mp4 |
That looks perfect! |
Checklist
Description
I have deployed several vehicles near a train station. It is very common for other vehicles to come, stop for a minute to drop off someone, then go away.
Although the avoidance works nicely while the vehicle is parked on the side of the road, autoware still wants to follow the avoidance path after the vehicle is gone. This is very akward for the safety driver, as autoware moves away from its lane for no apparent reason
This can be reproduced with the planning simulator easily:
No obstacle -> no avoidance
A vehicle comes and park -> avoidance path is generated after a few seconds
The vehicle is gone, but autoware does not revert the path to 1 (even if you wait for a very long time)
Expected behavior
If there is no obstacle, there should be no avoidance
Actual behavior
generated avoidance path stays for ever.
Steps to reproduce
See the pictures. You can use the fake bus to emulate a parked vehicle, and delete all obstacles after avoidance path is generated.
Versions
No response
Possible causes
No response
Additional context
No response
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