behavior_path_planner does not create a shift point some cases

[beyzanurkaya]

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

The shift points created when avoiding an obstacle are calculated with the formula lateral_collison_margin + vehicle_width/2 + lateral_collison_safety_margin. However, in some cases, the shift point calculated with this formula may be out of lanelet. In such a case, the shift point does not occur. Instead of not creating the shift point directly, a max_allowable_lateral_distance should be used for such cases.

Expected behavior

If the shift point to be created is outside of the lanlet, at least a shift point should be created close to the lanelet border. If avoid_margin is bigger than max_allowable_lateral_distance then max_allowable_lateral_distance should be used for avoid_margin.

Actual behavior

If the shift point calculated with lateral collison margin + vehicle width/2 + lateral_collison_safety_margin is bigger than max_allowable_lateral_distance, no shift point is created.

Steps to reproduce

1. Download isuzu_vehicle_launch in here
2. Download test.zip
3. run ros2 launch scenario_test_runner scenario_test_runner.launch.py sensor_model:=sample_sensor_kit vehicle_model:=isuzu_vehicle \ scenario:=/scenario/path/test.yaml \ architecture_type:=awf/universe launch_rviz:=false launch_autoware:=true

Versions

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Possible causes

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Additional context

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