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fix(run_out): do not insert stop point when stopped in Object method #5911

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TomohitoAndo
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@TomohitoAndo TomohitoAndo commented Dec 19, 2023

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 (Points or ObjectWithoutPath), as these methods continuously detect objects. However, I believe this feature has a minimal impact when the method is set to Object. Therefore, I have disabled this feature for the Object 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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Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>
@github-actions github-actions bot added the component:planning Route planning, decision-making, and navigation. (auto-assigned) label Dec 19, 2023
@takayuki5168 takayuki5168 added the run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Dec 19, 2023
@TomohitoAndo TomohitoAndo enabled auto-merge (squash) December 19, 2023 05:42
@TomohitoAndo TomohitoAndo merged commit 4225f4e into autowarefoundation:main Dec 20, 2023
26 of 28 checks passed
karishma1911 pushed a commit to Interplai/autoware.universe that referenced this pull request Dec 20, 2023
…utowarefoundation#5911)

Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>
Signed-off-by: karishma <karishma@interpl.ai>
@TomohitoAndo TomohitoAndo deleted the fix/run-out-not-insert-stop-point-when-stopping branch December 21, 2023 09:56
karishma1911 pushed a commit to Interplai/autoware.universe that referenced this pull request May 26, 2024
karishma1911 pushed a commit to Interplai/autoware.universe that referenced this pull request May 28, 2024
…utowarefoundation#5911)

Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>
Signed-off-by: karishma <karishma@interpl.ai>
karishma1911 pushed a commit to Interplai/autoware.universe that referenced this pull request May 28, 2024
karishma1911 pushed a commit to Interplai/autoware.universe that referenced this pull request Jun 3, 2024
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2 participants