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ApolloAuto / apollo

An open autonomous driving platform
Apache License 2.0
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question about path bounds decider #15435

Open dajiba6 opened 1 week ago

dajiba6 commented 1 week ago

Why do we need a fallback path? If other paths cannot be generated, shouldn't vehicle stop moving? Doesn't ignoring static obstacles in the fallback path create danger?

daohu527 commented 1 week ago

Fallback is definitely necessary. We can’t just stop immediately when we encounter a problem. But I’m not sure whether the fallback route will avoid obstacles.

ycraurora commented 1 week ago

Fallback route will not avoid obstacles, but it should I think. In most cases, the reason that regular paths cannot be generated is because of static obstacles, and if static obstacles are not ignored, it is highly likely that the fallback path will not be generated either. However, I think it should work like this, then a fast stop trajectory will be generated.

dajiba6 commented 5 days ago

Fallback is definitely necessary. We can’t just stop immediately when we encounter a problem. But I’m not sure whether the fallback route will avoid obstacles.

The fallback route will ignore obstacles, which becomes very dangerous, especially when bypassing continuously parked vehicles on the roadside. If the lane borrow nudging path cannot be generated, the vehicle can only proceed according to the fallback route, which will inevitably result in a collision with the car in front. This lane borrow scenario is quite common, i have tested it on real vehicle for serval times.