fix(avoidance): fix bug in the logic to check object moving distance #6766
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Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
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Tested with object speed cap-.2024-04-26-18-08-01.mp4 |
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…utowarefoundation#6766) fix(avoidance): check object moving distance Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
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…utowarefoundation#6766) fix(avoidance): check object moving distance Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
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…utowarefoundation#6766) fix(avoidance): check object moving distance Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
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Description
BACKGROUND: Avoidance module has option to avoid ambiguous stopped vehicle in order to prevent stuck. If the object keeps stopped speed (less than
th_moving_speed) for a certain period of time (more thanth_stopped_time), this module create avoidance path even if it's not obvious parked vehicle.On the other hand, basically, we can't set
th_moving_speedto zero because there should be a perception noise. As a result, sometimes the module reacted to vehicle that is moving super slowly. And, I found it necessary to add the logic to check object moving distance.th_moving_speed: 1.0m/sth_moving_speedsimplescreenrecorder-2024-04-25_17.15.34.mp4
BUG: The filter to check moving distance is applied for obvious parked vehicle unexpectedly in following situation.
simplescreenrecorder-2024-04-25_19.03.07.mp4
I want to apply this condition only for ambiguous vehicle and it shoud avoid as follow.
simplescreenrecorder-2024-04-25_19.08.55.mp4
Tests performed
Effects on system behavior
Not applicable.
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