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ApolloAuto / apollo

An open autonomous driving platform
Apache License 2.0
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planning ignore obstacles #15363

Open HandsomeAIccx opened 5 months ago

HandsomeAIccx commented 5 months ago

I generated perception/obstacles using modules/tools/perception/garage_perception.bash and enabled the prediction function. Although the data channels appear to be normal, when using sim control for vehicle planning, the vehicle completely ignored the obstacles in front of it.I have cyber_record record a file, Is there an expert in PNC who can help me take a look at this issue? Thank you! image image image

2024-04-06 01-12-58屏幕截图 cyber_monitor obs.record.00000.zip

from apollo 9.0 (source code)

HandsomeAIccx commented 5 months ago

By the way, when I executed cyber_launch start planning.launch, the terminal printed the following error 2024-04-06 07-28-00屏幕截图 Could this be related? I suspect that my path does not undergo any optimization by planning and is simply the result of routing.”

YuqiHuai commented 5 months ago

What version of Apollo are you using and what map is it on?

I checked the record file you provided and multiple obstacles have the same ID, I suspect that to be causing planning module to ignore this obstacle. When you used the script to generate perception messages, there are multiple json files and make sure those json files have different obstacle ID.

HandsomeAIccx commented 5 months ago

What version of Apollo are you using and what map is it on?

I checked the record file you provided and multiple obstacles have the same ID, I suspect that to be causing planning module to ignore this obstacle. When you used the script to generate perception messages, there are multiple json files and make sure those json files have different obstacle ID.

Thank you! I changed the ID and then planning module works, it generated other path to avoid the obstacles! The version is apollo 9.0 and the map is Sunnyvale With Two Offices.

YuqiHuai commented 5 months ago

Cool. Glad it helped!