fix(run_out): do not insert stop point when stopped in Object method #5911
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Description
In the current implementation, the run-out module inserts a stop point when the ego vehicle is stationary. This is to prevent the stop decision from oscillating. This approach is particularly necessary for methods that assume pedestrians running out (
Point
s orObjectWithoutPath
), as these methods continuously detect objects. However, I believe this feature has a minimal impact when the method is set toObject
. Therefore, I have disabled this feature for theObject
method.Tests performed
Simple planning simulator
Before
Stop point is inserted when the ego has stopped.
simplescreenrecorder-2023-12-19_14.15.17.mp4
After
simplescreenrecorder-2023-12-19_14.11.56.mp4
Effects on system behavior
Not applicable.
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