feat: implement goal planner neglecting objects over road border #2062
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Signed-off-by: YuxuanLiuTier4Desktop <[email protected]>
Signed-off-by: YuxuanLiuTier4Desktop <[email protected]>
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Thank you for contributing to the Autoware project! 🚧 If your pull request is in progress, switch it to draft mode. Please ensure:
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Signed-off-by: YuxuanLiuTier4Desktop <[email protected]>
Signed-off-by: YuxuanLiuTier4Desktop <[email protected]>
Signed-off-by: YuxuanLiuTier4Desktop <[email protected]>
…m/tier4/autoware_universe into feat/goal_planner_checking_border
Signed-off-by: YuxuanLiuTier4Desktop <[email protected]>
Signed-off-by: YuxuanLiuTier4Desktop <[email protected]>
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Description
Filter out objects that are separated from the ego vehicle by road borders, preventing unnecessary path planning considerations for objects on the opposite side of road infrastructure.
Algorithm
Before
After
Related links
Parent Issue:
How was this PR tested?
Evaluator link: https://evaluation.tier4.jp/evaluation/reports/9e87bf6a-f1e5-50ef-84a6-3e32cd5cf22a?project_id=prd_jt
Notes for reviewers
None.
Interface changes
None.
Effects on system behavior
None.