2022-11-09 Planning/control meeting

[WJaworskiRobotec]

Agenda Summary

• Observed problems:

  • Trajectory planning for long vehicles not working properly autoware.universe#2182
  • Vehicle stops in front of non-existing obstacle on the path autoware.universe#2213

• Related discussions / documents:

  • https://github.com/orgs/autowarefoundation/discussions/2851
  • https://github.com/orgs/autowarefoundation/discussions/2981
  • https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-architecture/planning/
  • https://autowarefoundation.github.io/autoware.universe/main/planning/obstacle_stop_planner/
  • Creating a Simulation Environment (ISUZU project) autoware-projects#47 (comment)

• Way forward - @WJaworskiRobotec suggestion:

  • Divide the observed problems into tasks
    • Drivable area calculated based on vehicle geometry
      • expanding of drivable area, but not outside of the road
      • considering vehicles driving on other lanes
    • Stopping due to detected obstacles - seems to be too sensitive
  • Assigning partners to work on the tasks - high priority because it blocks BusODD

Discussions