feat(dynamic_avoidance): calculate which side to avoid more accurately #4451
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Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
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Codecov ReportPatch coverage has no change and project coverage change:
Additional details and impacted files@@ Coverage Diff @@
## main #4451 +/- ##
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- Coverage 14.91% 14.91% -0.01%
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Files 1517 1517
Lines 104684 104690 +6
Branches 31869 31873 +4
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- Misses 72034 72040 +6
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Description
Without this PR, which side to avoid is calculated by the ego's pose and object's pose.
This implementation cannot deal with the case where the ego's path and object's path will cross and which side to avoid is the opposite to the expected side.
With this PR, which side to avoid is calculated by the future ego's pose and object's pose when the collision will occur.
Tests performed
planning simulator
Effects on system behavior
Nothing
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