Open wlsdaydayup opened 3 weeks ago
Maybe this documentation can help you before an Apollo developer replies. Doesn't look like Planning supports overtaking dynamic obstacles in the same direction based on the supported features.
PathBoundsDecider通过IsWithinPathDeciderScopeObstacle函数来过滤障碍物。如果你不想修改源码,最简单的方式是修改FLAGS_static_obstacle_speed_threshold。动态障碍物映射到SL图中会逐帧变化,考虑速度过快的动态障碍物会导致路径规划不稳定。
System information
Steps to reproduce the issue:
想问一下横向的路径规划在path boundary decider好像是只针对静态障碍物生成道路安全边界,纵向的速度规划生成ST boundary只针对动态障碍物,那如果要绕行超车动态障碍物,横向上怎么对动态障碍物做特殊处理呢?(毕竟没考虑动态障碍物)