Open MishkaMN opened 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
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