The local planner logic implements an improvement that checks the trajectory from the current target onwards rather than the entire trajectory. Even if the trajectory is unsafe, the idea to to continue along the trajectory to explore new locations on the map. Improvement is needed in dealing with velocity generation when danger close is active.
The local planner logic implements an improvement that checks the trajectory from the current target onwards rather than the entire trajectory. Even if the trajectory is unsafe, the idea to to continue along the trajectory to explore new locations on the map. Improvement is needed in dealing with velocity generation when danger close is active.