Planning&Control WG Meeting 2023/08/31

[maxime-clem]

Administrative

• Goals
• Previous meeting notes

Announcements

Updates

• TierIV and Leo Drive teams will take a look at AWSIM and observe if we have any planning&control related issues or not.
  • AWSIM feedback autoware-projects#67
• Rerouting Static Obstacle : is there any blocker ? Yes, waiting for another PR to be merged
  • Discussion : https://github.com/orgs/autowarefoundation/discussions/3599
  • Issue : Rerouting static obstacle using a selected point by the user autoware.universe#4523
  • PR : feat(rerouting-static-obstacle): rerouting static obstacle using a selected point by the user autoware.universe#4524
  • Demo : https://youtu.be/utBOc_KD1Qo

Discussion Topics

• All calculations for planning and control side are made for 2D: https://github.com/orgs/autowarefoundation/discussions/3737
  • switching to 3D distance calculations is feasible but requires a lot of code changes; will improve planning precision; can be left for future work (maybe for autoware.core).
• Feedback about running autoware with large vehicles (@maxime-clem):
  • Working on improvements to the dynamic drivable area expansion and to the out_of_lane module.
  • I am curious about any issues encountered by other users.
  • With LeoDrive's bus the dynamic expansion was too computationally expensive so static expansion was used; out_of_lane has not been used.

Action Items

• @mitsudome-r to review refactor(lanelet2_extension): overload getCurrentLanelets with search point autoware_common#201 that is blocking the Rerouting Static Obstacle PR.
• @maxime-clem to open a new discussion for gathering feedback on the dynamic drivable area expansion and the out_of_lane module.
• @maxime-clem to prepare a presentation of the recent improvements to the dynamic drivable area and the out_of_lane module.

[brkay54]

It is not ready but I want to talk about this PR: autowarefoundation/autoware.universe#4712