Dynamic_obstacle_avoidance does not work stable

[beyzanurkaya]

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

A moving object is heading towards the EGO vehicle. The dynamic_obstacle_avoidance module cuts the drivable area based on this object, but in some cases, it becomes confused about which side of the drivable area to cut.

https://github.com/autowarefoundation/autoware.universe/assets/32412808/0eed3525-96c8-4149-8471-e3822c311d7f

Expected behavior

The dynamic_obstacle_avoidance module should stably perform cutting the object from the drivable area without any confusion.

Actual behavior

The dynamic_obstacle_avoidance module is unable to decide from which side to cut the object from the drivable area.

Steps to reproduce

1. run plan_sim map: LEO-VM-00038.zip
2. add a dynamic object

Versions

Possible causes

Additional context

[beyzanurkaya]

I think the problem here is that the lane is bidirectional:

Single Directional Lane:

https://github.com/autowarefoundation/autoware.universe/assets/32412808/41270d47-74ca-4e73-ab87-b3171b611740

Bidirectional Lane:

https://github.com/autowarefoundation/autoware.universe/assets/32412808/1d25281e-40c6-47cb-b92d-26ae87258589

I haven't debugged it yet, but my guess is that the module cannot determine which direction the object is on the lane. Therefore, it cannot properly decide which side of the drivable area to cut.

[beyzanurkaya]

isLeft function sometimes returns false even though the NPC is clearly to the left of EGO vehicle