Vector map in autoware planning

[SiHyun-Sung]

In this case, ego vehicle should not cross the vector map's outer line and should avoid to right direction.
I wan to know how vector map is related to this avoidance path generating calculation.

[mitsudome-r]

In general, obstacle avoidance modules should be using road boarders to generate drivable area and do path generation.
The documentation for the following modules might give you some idea about how Autoware's path planner calculates drivable area:

• https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_planner_common/docs/behavior_path_planner_drivable_area_design/
• https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/#drivable-area-expansion
• https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/#cuts-off-the-drivable-area-against-the-selected-pedestrians