Wrong path in state transition between avoidance and lane_change under certain lane conditions

[shulanbushangshu]

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

[satoshi-ota]

Hi @shulanbushangshu cc @zulfaqar-azmi-t4 @rej55
Currently, behavior_path_planner uses BehaviorTree as framework of management the ego behavior. (docs)

Because of that, this module cannot execute Lane Change & Avoidance in parallel, and Avoidance execution priority is higher than Lane Change, and problems cause in situations where Lane Change & Avoidance are needed at the same time. (In short, it is not possible to execute Lane Change until the ego avoids all obstacles. 🥺 )

We TIER IV would like to fix this bottole neck by 2023 3/E, and I'm asignee of this task as TIER IV planning/control team.