feat(avoidance): output feasible avoidance path #4145
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Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
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| double PathShifter::calcFeasibleVelocityFromJerk( | ||
| const double lateral, const double jerk, const double distance) | ||
| const double lateral, const double jerk, const double longitudinal) |
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not related this PR but suggetion for variable name also for the function of calcLateralDistFromJerk
Suggested change
| double PathShifter::calcFeasibleVelocityFromJerk( | |
| const double lateral, const double jerk, const double distance) | |
| const double lateral, const double jerk, const double longitudinal) | |
| double PathShifter::calcFeasibleVelocityFromJerk( | |
| const double lateral_deviation const double longitudinal_deviation, const double maximum_jerk) |
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Let's discuss proper name in other PR 👍
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Description
Currently, avoidance module outputs avoidance path only when there is the sufficient longitudinal distance. But this limitation maybe cause stuck because the ego stopped at obstacle stop position in worst case.
In this PR, I improve the logic so that it outputs feasible shift path if the longitudinal distance between ego and object is NOT enough to shift target lateral length.
simplescreenrecorder-2023-07-10_19.23.07.mp4
Tests performed
Effects on system behavior
Improve avoidance behavior
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