feat: run_out does not plan to stop when there is enough time for stopping #749
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…pping Signed-off-by: Takayuki Murooka <[email protected]>
takayuki5168
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Dec 21, 2023
This was referenced Dec 22, 2023
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…oundation#749) Signed-off-by: Takayuki Murooka <[email protected]>
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…towarefoundation#812) (autowarefoundation#749) Signed-off-by: Fumiya Watanabe <[email protected]>
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Description
Currently, when the ego is decelerating due to modules such as obstacle stop, the run out module inserts a stop point in the path.
In this case, the
min_behavior_stop_marginfeature of the obstacle stop makes its stop point closer to the run out's stop point, resulting in getting closer to the object.To fix this issue, when there is enough time for stopping at the run out's stop point because of other modules' stop point, the run out will not insert a stop point.
Tests performed
psim
scenario test
Effects on system behavior
Nothing
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