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  • planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module

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planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/README.md

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@@ -988,13 +988,13 @@ use_hatched_road_markings: true
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use_freespace_areas: true
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```
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| | | |
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| --------------------- | ---------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
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| use_lane_type: same_direction_lane | ![fig](./images/advanced/avoidance_same_direction.png) | |
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| use_lane_type: opposite_direction_lane | ![fig](./images/advanced/avoidance_opposite_direction.png) | |
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| intersection area | ![fig](./images/advanced/avoidance_intersection.png) | The intersection area is defined on Lanelet map. See [here](https://github.com/autowarefoundation/autoware_lanelet2_extension/blob/main/autoware_lanelet2_extension/docs/lanelet2_format_extension.md) |
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| hatched road markings | ![fig](./images/advanced/avoidance_zebra.png) | The hatched road marking is defined on Lanelet map. See [here](https://github.com/autowarefoundation/autoware_lanelet2_extension/blob/main/autoware_lanelet2_extension/docs/lanelet2_format_extension.md#hatched-road-markings-area) |
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| freespace area | ![fig](./images/advanced/avoidance_freespace.png) | The freespace area is defined on Lanelet map. (unstable) |
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| | | |
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| -------------------------------------- | ---------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
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| use_lane_type: same_direction_lane | ![fig](./images/advanced/avoidance_same_direction.png) | |
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| use_lane_type: opposite_direction_lane | ![fig](./images/advanced/avoidance_opposite_direction.png) | |
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| intersection area | ![fig](./images/advanced/avoidance_intersection.png) | The intersection area is defined on Lanelet map. See [here](https://github.com/autowarefoundation/autoware_lanelet2_extension/blob/main/autoware_lanelet2_extension/docs/lanelet2_format_extension.md) |
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| hatched road markings | ![fig](./images/advanced/avoidance_zebra.png) | The hatched road marking is defined on Lanelet map. See [here](https://github.com/autowarefoundation/autoware_lanelet2_extension/blob/main/autoware_lanelet2_extension/docs/lanelet2_format_extension.md#hatched-road-markings-area) |
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| freespace area | ![fig](./images/advanced/avoidance_freespace.png) | The freespace area is defined on Lanelet map. (unstable) |
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## Future extensions / Unimplemented parts
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