Static Obstacle Avoidance fails to avoid parked vehicle after limited avoid_margin

[MertClk]

Checklist

• I've read the contribution guidelines.
• I've searched other issues and no duplicate issues were found.
• I'm convinced that this is not my fault but a bug.

Description

Objects without an avoid_margin are not considered is_avoidable. As a result, the static_obstacle_avoidance module transitions to the onExit process, ultimately causing the ego vehicle to move and miss the deadline."

Video

Expected behavior

• Ego waits until it can avoid the parked vehicle.
• Starts avoidance when the space is empty.

Actual behavior

• Ego drives toward the parked vehicle and overran the deadline.

Steps to reproduce

A scenario file has been generated for this issue. Please use following map and scenario file.

Map: Drive
Scenario File: Drive

Versions

No response

Possible causes

In shif_line_generator, when the drivable area is limited temporarily, the target object is not kept as avoidable.
shift_line_generator.cpp@274

      if (
        data.red_signal_lane.has_value() &&
        data.red_signal_lane.value().id() == o.overhang_lanelet.id()) {
        o.info = ObjectInfo::LIMIT_DRIVABLE_SPACE_TEMPORARY;
      } else {
        o.info = ObjectInfo::INSUFFICIENT_DRIVABLE_SPACE;
      }
      if (o.avoid_required && is_forward_object(o) && is_on_path(o)) {
        break;
      } else {
        unavoidable_objects.push_back(o);
        continue;
      }
    }

For this reason, the object becomes isAbsolutelyNotAvoidable and this will cause static_obstacle_avoidance module to move to onExit phase.
scene.cpp@564

As a solution, the object should become "is_avoidable" before following break statement.

Solution

Additional context

No response

[MertClk]

@satoshi-ota @yhisaki This issue impacts the avoidance module's behavior in narrow lanes. When you have a moment, could you kindly share your thoughts on this?