Open VRichardJP opened 1 year ago
@VRichardJP You set enable_avoidance True in obstacle_avoidance_planner, right? The function is under development and is not supported. For now, I recommend you trying avoidance in behavior_path_planner which has rule-based avoidance.
@takayuki5168 I see. I didn't know there were 2 competing avoidance algorithms. The behavior_path_planner alone is indeed working fine in my case.
The architecture of avoidance is not well-organized at all. At least, TIER IV is developing rule-based avoidance in behavior_path_planner for now.
https://github.com/orgs/autowarefoundation/discussions/3097 Needs to be discussed after the planning arch is updated again.
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Description
I am running Autoware on a golf cart (max 20km/h).
Today, there were quite a few bikes parked on the side of the road. Bikes are annoying because they are usually detected but not classified until the ego vehicle is very close to them. In particular, I observed the following behavior when obstacle avoidance is enabled :
target.webm
In the situation above, the golf cart is driving straight on the left lane. There is a bike parked on the left part of the road. What happens is:
obstacle_stop_planner
ignores the points (I use the default lateral margin = 0.0)I understand it is difficult to define what is the "correct" behavior to adopt when an obstacle is suddenly detected very close to the ego vehicle. However, in the situation above, the bike points had been detected from very far away.
I have 2 problem with the situation above:
There is the behavior gap between the unclassified and classified situations:
Generated avoidance path turns way too fast for the speed.
Expected behavior
Transition from untracked to tracked obstacle should be smooth. For example, in the situation above, the default behavior should be something like:
Constraints on avoidance path generation should be more strict than normal lane driving (since behavior is less predictible). Basically parameters such as max speed, curvature, acceleration, etc should be lower than their normal lane driving counterpart. Furthermore, avoidance clearance distance should be longer as the vehicle drives faster. The faster the vehicle is, the earlier it should avoid the obstacle.
Actual behavior
inconsistent behavior transition from obstacle_stop_planner to obstacle_avoidance_planner.
Steps to reproduce
See the video
Versions
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Possible causes
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Additional context
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