Closed satoshi-ota closed 1 year ago
@satoshi-ota Thank you for your detailed report 🙏 . I will work on this. Also, if it is not a problem, could you share the map and scenario with me?
@brkay54 cc @mitsudome-r Thanks for your quick response. I can't share the maps on public place like this issue because the map is TIER IV private data. But we TIER IV & Leodrive have an NDA contract, so I can send you the map & scenario by email.
I would like to send you the data to berkay@leodrive.ai
. Is it OK?
@satoshi-ota Yes, it is okay, thank you!
@brkay54 Thanks! I'll email you.
And, let me share another info. This strange behavior seems to be happen only on new architecture. (Unfortunately, I don't know why...)
So, I updated the Steps to reproduce.
NOTE: This is my evaluating branch, and please use it if you need.
@brkay54 I sent the data now. Please check it :pray:
@satoshi-ota I created PR to solve the problem. The problem is that if the enable_stop_behind_goal_for_obstacle
param is true, the extendTrajectory function causes NaN positions. So, createOneStepPolygon creates bad polygons and causes false positive collisions.
@brkay54 Thanks! I'll review your PR!
Checklist
Description
When the ego and other vehicle drive paralelly,
obstacle_stop_planner
inserts stop point suddenly behind the ego. I guess that this is unexpected behavior.I used following default config and the
stop_lateral_margin
is0.0
, so the NPC vehicle seems to beNOT
inside detection area for stop judgement in this movie.https://github.com/autowarefoundation/autoware.universe/assets/44889564/86084aec-6289-40fb-bb86-ecbfaa6d3709
Expected behavior
Don't insert stop point in above situation.
Actual behavior
Ego stops suddenly.
https://github.com/autowarefoundation/autoware.universe/assets/44889564/75016bb4-95d2-4d78-992e-ecafcb55bacf
Steps to reproduce
COMPILE_WITH_OLD_ARCHITECTURE
FALSE)Versions
Possible causes
When I revert https://github.com/autowarefoundation/autoware.universe/pull/3505, this unexpected behavior doesn't happed. (But I don't know why.)
https://github.com/autowarefoundation/autoware.universe/assets/44889564/6cbab9dc-7c1b-4336-81a7-d2d999de0efa
Additional context
No response