autoware_behavior_path_dynamic_obstacle_avoidance_module meets oncoming dynamic obstacles, the drivable area undergoes sudden changes.

[luojiaxiang11]

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

autoware_behavior_path_dynamic_obstacle_avoidance_module meets oncoming dynamic obstacles, the drivable area undergoes sudden changes.

Expected behavior

When encountering an oncoming dynamic obstacle positioned in the center, dynamic obstacle avoidance should not be carried out.

Actual behavior

https://github.com/user-attachments/assets/aa9fadbf-4ac8-4260-91ed-da2a39151588

Steps to reproduce

1. Set the starting and ending points in rviz under the simulation mode.
2. Set the oncoming dynamic obstacle in the middle of the planned path.

Versions

-autoware:main

Possible causes

No response

Additional context

No response

[luojiaxiang11]

Can the following conditional statement be removed from the calcMinMaxLateralOffsetToAvoidRegulatedObject function in the file autoware_behavior_path_dynamic_obstacle_avoidancemodule/src/scene.cpp？ ` if (parameters->min_front_object_vel < obj_vel)`

[shulanbushangshu]

Can the following conditional statement be removed from the calcMinMaxLateralOffsetToAvoidRegulatedObject function in the file autoware_behavior_path_dynamic_obstacle_avoidancemodule/src/scene.cpp？ ` if (parameters->min_front_object_vel < objvel)` @luojiaxiang11 The condition "parameters->min_front_object_vel < obj_vel" is to select the moving object. And in your issue ,The situation "an oncoming dynamic obstacle positioned in the center" should be ignored and This autoware_behavior_path_dynamic_obstacle_avoidance_module should not work in the sense. Is it right?

In this module, I think that if the moving target is considered near the center line, the module shrinking the exercisable area can trigger the speed planning in advance.

[luojiaxiang11]

Can the following conditional statement be removed from the calcMinMaxLateralOffsetToAvoidRegulatedObject function in the file autoware_behavior_path_dynamic_obstacle_avoidancemodule/src/scene.cpp？ ` if (parameters->min_front_object_vel < objvel)` @luojiaxiang11 The condition "parameters->min_front_object_vel < obj_vel" is to select the moving object. And in your issue ,The situation "an oncoming dynamic obstacle positioned in the center" should be ignored and This autoware_behavior_path_dynamic_obstacle_avoidance_module should not work in the sense. Is it right?

In this module, I think that if the moving target is considered near the center line, the module shrinking the exercisable area can trigger the speed planning in advance.

Yes,i think autoware_behavior_path_dynamic_obstacle_avoidance_module should not work in that situation. when encountering it during real vehicle testing, even though the speed planning can ensure stopping in front of the obstacle, the abrupt change in the drivable area will cause the decision path to fluctuate, leading to steering shaking.

[shulanbushangshu]

@luojiaxiang11 Can you plot how much the steering wheel fluctuates? The current model code has cross-target filtering; For moving targets that are in the center line before detection, I don't think the steering wheel will fluctuate much in a lane with low curvature.

[luojiaxiang11]

@luojiaxiang11 Can you plot how much the steering wheel fluctuates? The current model code has cross-target filtering; For moving targets that are in the center line before detection, I don't think the steering wheel will fluctuate much in a lane with low curvature.

Steering wheel fluctuation is caused by the left and right switching of the driving area, as shown in the aforementioned video. It has nothing to do with the road curvature.

[shulanbushangshu]

@luojiaxiang11 Can you plot how much the steering wheel fluctuates?In your video , I can not see the fluctuates

[luojiaxiang11]

@luojiaxiang11 Can you plot how much the steering wheel fluctuates?In your video , I can not see the fluctuates

[shulanbushangshu]

Relate to https://github.com/autowarefoundation/autoware.universe/issues/8881 Whether to consider this situation when designing centreline obstacle avoidance @beyzanurkaya