[X] I've searched other issues and no duplicate issues were found.
[X] I've agreed with the maintainers that I can plan this task.
Description
Part of:
7485
Dense Urban ODD Characteristics
Low-Speed Driving: Typical speeds around 15 km/h.
Complex Traffic Elements: Includes dense traffic with various dynamic interactions.
Dynamic Agents: Frequent encounters with moving pedestrians and cyclists.
Bidirectional Movement: Vehicles operate in lanes supporting bidirectional flow.
Traffic Rule Non-compliance: Other road users may exhibit behaviors such as:
Driving in the wrong direction.
Cutting in unexpectedly from off-road areas.
Jaywalking pedestrians.
Improper / sudden overtaking by other road users.
In the context of Dense Urban ODD, we need to fine-tune the existing parameters of the obstacle_cruise_planner or potentially develop new features to improve the slowing down of ego vehicle to overtaking road user maintaining both passengers safety and comfortability.
Purpose
Overtaking npc to ego lane then slowing down with different speeds "UC-NTR-001-0008"
The following image describes the scenario where ...
an npc is driving in adjacent lane to ego.
then it passes the ego vehicle and overtakes the ego lane.
after overtaking, it starts to slow down.
The purpose of improvement in the following cases is to mitigate any unnecessary declaration (slowing down) value by ego vehicle while keeping the distance with overtaking npc.
NPC slowing down from 20 to 15 km/h "PASSED :heavy_check_mark: "
Checklist
Description
Part of:
7485
Dense Urban ODD Characteristics
In the context of Dense Urban ODD, we need to fine-tune the existing parameters of the
obstacle_cruise_planner
or potentially develop new features to improve the slowing down of ego vehicle to overtaking road user maintaining both passengers safety and comfortability.Purpose
Overtaking npc to ego lane then slowing down with different speeds "UC-NTR-001-0008"
The following image describes the scenario where ...
The purpose of improvement in the following cases is to mitigate any unnecessary declaration (slowing down) value by ego vehicle while keeping the distance with overtaking npc.
NPC slowing down from 20 to 15 km/h "PASSED :heavy_check_mark: "
https://github.com/user-attachments/assets/917cda44-981e-42f1-9347-f7e694c41fd6
NPC slowing down from 20 to 12.5 km/h "FAILED :x:"
https://github.com/user-attachments/assets/53c59784-d77e-4438-b367-d6689d1e2109
NPC slowing down from 20 to 10 km/h "FAILED :x:"
https://github.com/user-attachments/assets/7fc53112-fbc0-48a5-aab8-57528b8b6f7e
For reproducing the issue using scenario simulation, you can use the these scenario and map files.
Possible approaches
The
obstacle_cruise_planner
should be capable of handling the situations mentioned above.obstacle_cruise_planner
implementation should be improved.Definition of done