fix(avoidance): fix bugs in parked vehicle filtering logic #7072
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Signed-off-by: satoshi-ota <[email protected]>
Signed-off-by: satoshi-ota <[email protected]>
Signed-off-by: satoshi-ota <[email protected]>
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…oundation#7072) * fix(avoidance): check prev/next lane Signed-off-by: satoshi-ota <[email protected]> * fix(avoidance): fix parked vehicle filtering Signed-off-by: satoshi-ota <[email protected]> * fix(avoidance): check intersection location Signed-off-by: satoshi-ota <[email protected]> --------- Signed-off-by: satoshi-ota <[email protected]>
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…oundation#7072) * fix(avoidance): check prev/next lane Signed-off-by: satoshi-ota <[email protected]> * fix(avoidance): fix parked vehicle filtering Signed-off-by: satoshi-ota <[email protected]> * fix(avoidance): check intersection location Signed-off-by: satoshi-ota <[email protected]> --------- Signed-off-by: satoshi-ota <[email protected]>
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…oundation#7072) * fix(avoidance): check prev/next lane Signed-off-by: satoshi-ota <[email protected]> * fix(avoidance): fix parked vehicle filtering Signed-off-by: satoshi-ota <[email protected]> * fix(avoidance): check intersection location Signed-off-by: satoshi-ota <[email protected]> --------- Signed-off-by: satoshi-ota <[email protected]>
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Description
This PR includes followng bug fixes:
Sometimes, the module didn't judge whether the vehicle was on ego lane properly.
Check if object's lane within/without not only for object's closest lane but also its next/prev lanes.
The module avoided vehicles unexpectedly.
If there was road shoulder lane on left side, the module created avoidance path not only for vehicle whose footprint was on road shoulder lane but also vehicles stopped without pulling over the side of the road.
The module ignored vehicle within virtual intersection for entering private area.
Use location tag to judge if it's a virtual intersection or not.
Tests performed
Not applicable.
Effects on system behavior
Not applicable.
Interface changes
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