Wrong path in state transition between avoidance and lane_change under certain lane conditions #2084
Description
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
There is wrong path in state transition between avoidance and lane_change in some lane conditions.
When there are no obstacles in the lanes ,the path of behavior_path_planner is shown below:
Screencast.2022-10-17.16.37.38.mp4
When there are some obstacles in the lanes ,the path of behavior_path_planner is shown below:
(1)
Screencast.2022-10-17.16.36.32.mp4
(2)
Screencast.2022-10-17.17.18.48.mp4
Expected behavior
The code should consider the transition between avoidance and lane_change in advance.If the state only is in avoidance by conditions of obstacles,the path of behavior_path_planner will be wrong in some lanes.
Actual behavior
The code can not consider the transition between avoidance and lane_change in advance.The state only is in avoidance by conditions of obstacles.The path of behavior_path_planner is wrong in some lanes.
Steps to reproduce
1.Start autoware planning simulator
2. Set initial position and gobal position;
3.Set obstacle(like car or bus) in some particular lanes as above
Versions
1.OS: Ubuntun 20.04
2.ROS2: Galactic
3.Autoware: Autoware.universe:main
Possible causes
The code can not consider the transition between avoidance and lane_change in advance
Additional context
No response