Dynamic_obstacle_avoidance does not work stable

[beyzanurkaya]

Checklist

• I've read the contribution guidelines.
• I've searched other issues and no duplicate issues were found.
• I'm convinced that this is not my fault but a bug.

Description

A moving object is heading towards the EGO vehicle. The dynamic_obstacle_avoidance module cuts the drivable area based on this object, but in some cases, it becomes confused about which side of the drivable area to cut.

unstable-dynamic-avoidance.mp4

Expected behavior

The dynamic_obstacle_avoidance module should stably perform cutting the object from the drivable area without any confusion.

Actual behavior

The dynamic_obstacle_avoidance module is unable to decide from which side to cut the object from the drivable area.

Steps to reproduce

1. run plan_sim
   map: LEO-VM-00038.zip
2. add a dynamic object

Versions

Possible causes

Additional context

[beyzanurkaya]

I think the problem here is that the lane is bidirectional:

Single Directional Lane:

single-direction.mp4

Bidirectional Lane:

bidirectional.mp4

I haven't debugged it yet, but my guess is that the module cannot determine which direction the object is on the lane. Therefore, it cannot properly decide which side of the drivable area to cut.

[beyzanurkaya]

isLeft function sometimes returns false even though the NPC is clearly to the left of EGO vehicle

[beyzanurkaya]

When the road is single direction, it means that the NPC is going in the wrong direction in this video. That's why only a straight predicted path is generated for the NPC in autoware_map_based_prediction.

single-direction.mp4

When the road is bi-directional, there doesn't seem to be any situation where either the EGO or the NPC violates the road rules. Therefore, a predicted path is generated as if both vehicles will move along the centerline. This causes the object's future position to be on the path of the EGO. As a result, the module is trying to remove the wrong part from the drivable area.

In conclusion, If the road is bi-directional, vehicles should drive from the right or left side according to the traffic flow, not from the road's centerline.

I will open an issue for this in autoware_map_based_prediction.

[stale]

This pull request has been automatically marked as stale because it has not had recent activity.

[beyzanurkaya]

I planned to solve this problem by shifting the predicted_paths of the objects to the right or left. With @technolojin -san's PR, the instability in dynamic_obstacle_avoidance was eliminated. I'm closing the issue.