How the freespace_planner node takes more account of map boundaries

[nainaigetuide]

Checklist

• [X] I've read the contribution guidelines.
• [X] I've searched other issues and no duplicate issues were found.
• [X] I'm convinced that this is not my fault but a bug.

Description

When using the A* algorithm in parking for planning, as shown in the figure below, the two lines are the boundaries of the road. When using the freespace_planner node for planning, the car is very likely to press the lane line in the red area.

How can I avoid this from happening?

Expected behavior

The planned route can be in the middle of the lane.

Actual behavior

The planned route may overwhelm the lane line

Steps to reproduce

Planning using the A* algorithm

Versions

No response

Possible causes

No response

Additional context

No response

[stale[bot]]

This pull request has been automatically marked as stale because it has not had recent activity.