feat(behavior_path_planner): curvature based drivable area expansion #935
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Signed-off-by: Maxime CLEMENT <[email protected]>
Signed-off-by: Maxime CLEMENT <[email protected]>
Signed-off-by: Maxime CLEMENT <[email protected]>
Signed-off-by: Maxime CLEMENT <[email protected]>
Signed-off-by: Maxime CLEMENT <[email protected]>
Signed-off-by: Maxime CLEMENT <[email protected]>
Signed-off-by: Maxime CLEMENT <[email protected]>
Signed-off-by: Maxime CLEMENT <[email protected]>
Signed-off-by: Maxime CLEMENT <[email protected]>
Signed-off-by: Maxime CLEMENT <[email protected]>
Signed-off-by: Maxime CLEMENT <[email protected]>
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Signed-off-by: Maxime CLEMENT <[email protected]>
Signed-off-by: Maxime CLEMENT <[email protected]>
Signed-off-by: Maxime CLEMENT <[email protected]>
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Signed-off-by: Maxime CLEMENT <[email protected]>
Signed-off-by: Maxime CLEMENT <[email protected]>
Signed-off-by: Maxime CLEMENT <[email protected]>
maxime-clem
requested review from
rej55,
kosuke55,
kyoichi-sugahara,
satoshi-ota,
shmpwk,
taikitanaka3,
TakaHoribe,
takayuki5168 and
tkimura4
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takayuki5168
approved these changes
Oct 16, 2023
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一応実験後にマージします、という意味でdraftにしました |
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Description
Replace the polygon-based dynamic drivable area expansion with a curvature-based algorithm.
Original AWF PR: autowarefoundation#5294
Related links
Tests performed
Psim.
Evaluation platform (TIER IV INTERNAL LINK).
Notes for reviewers
X2 Launch PR: https://github.com/tier4/autoware_launch.x2/pull/491
Interface changes
Effects on system behavior
Drivable area expansion should be more stable, less computationally expensive, and less prone to bugs.
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