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usdot-fhwa-stol / carma-platform

CARMA Platform is built on robot operating system (ROS) and utilizes open source software (OSS) that enables Cooperative Driving Automation (CDA) features to allow Automated Driving Systems to interact and cooperate with infrastructure and other vehicles through communication. Doxygen Source Code Documentation :
https://usdot-fhwa-stol.github.io/documentation/carma-platform/
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Yield plugin can sometimes detect vehicle is passed but can detect collision again #2323

Open MishkaMN opened 5 months ago

MishkaMN commented 5 months ago

Summary

Yield_plugin is ignoring some collision because it detected that the vehicle would be passed the object. However, it also detects collisions again on the next iteration, so it can have false positives for collision in between the iterations.

Reasoning for new functionality

No response

MishkaMN commented 5 months ago

Some cases have been handled in above 2325 PR. However, I am fairly confident rest of the issues happen because of issue: https://github.com/usdot-fhwa-stol/carma-platform/issues/2326

Another reason it can happen is because we are downsampling the trajectory when checking the collision. Therefore, we may end up missing the collision if the collision were to happen duing the downsampled place. Although this case is rare and can be resolved if the collision detection algorithm was much better and faster. So we can close this speific issue if 2326 is addressed