Vehicle not avoiding obstacles on road even with sufficient space

[MrOCW]

Hi, i'm trying the planning_simulator but the vehicle isn't avoiding obstacles on the road even though there is sufficient space and an adjacent lane to change to. I have tried with both pedestrian and dummy car driving close to my vehicle.

[zulfaqar-azmi-t4]

Hi @MrOCW,
Thank you very much for the question.

If possible, we may need further additional information on your setup. But you can try to check the reason for the avoidance failure by running the following ros2 topic echo command and sharing it with us.

ros2 topic echo /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/avoidance_debug_message_array

You can also follow the guide on #how-to-debug for other debug technique that is related to avoidance module.

As for the pedestrian object, the pedestrian object type is not included as an avoidance target for the basic setting. Therefore, the ego will simply stop before pedestrians.

To enable the pedestrian as the avoidable target, set the following parameter to true

Please let us know the details of the echo-ed topic once you have it.

[MrOCW]

@zulfaqar-azmi-t4 I have tried tuning some parameters and now it works but only occasionally. The reason is as shown in the image.
Also, when the planner manages to avoid the obstacle (when to_furthest_linestring_distance>some unknown threshold??), i still get InsufficientLateralMargin
Example:

When the planner manages to avoid and the vehicle is trying to return to the original lane, I will occasionally get the drivable_area wall appear in front of the vehicle and the vehicle stops

[zulfaqar-azmi-t4]

to_furthest_linestring or to_road_shoulder_distance shows that you have only 1.967 meters of free space(I apologize for the topic and visualization name differences as it is not updated at the moment). However, from your image above, the right side seems to have more than that. My current guess is it might be related to your lanelet map. Is this the demo map or a custom map?

If it's the demo can, can you point to us the location where you test this? or

If it is a custom map, can you add this #Showing drivable area boundary marker over here and share it with us? It will visualize the drivable area, which will allow us to see where the road boundaries are.

[MrOCW]

@zulfaqar-azmi-t4 I've created another lanelet2 map and now its working well. turns out there was an issue where there was duplicate linestrings on top of each other and the adjacent lanelets were referencing different linestrings. Currently, there is only this issue left. After avoiding, it fails to go back to its lane occasionally.

[zulfaqar-azmi-t4]

I am glad to hear that it is solved. The limitation is documented here and we are more than happy to answer if you have any more questions regarding the topic.

Regarding the fails to go back to its lane occasionally, if possible, can you share a video with us. Possibly it would be nice if, in the video, the following marker is set as true:

1. p_registered_shift
2. p_current_raw_shift
3. p_extra_return_shift
4. path_shifter_registered_points
   Since the current implementation has several known limitations, we can provide some educated guess on what seems to be the issue.

If it is not a trouble, it would also be nice to open a new discussion, as this new topic might be helpful to others as its own thread.

[MrOCW]

sure, I'll open a new topic. thanks again @zulfaqar-azmi-t4 for your help!