Avoidance Planner for dynamic obstacles

[purewater0901]

Currently, Autoware does not have any functions to safely avoid collisions with dynamic obstacles. In order to safely navigate the vehicle in dynamic environment, we should add dynamic obstacle avoidance functions to the Autoware. The minimum requirements for the dynamic obstacle avoidance planner are

• Collision avoidance with vehicular obstacles
• Considering comfortability of the passengers as well safety of the vehicle and other road participants.
• Avoid unnecessary brake or deceleration

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[xmfcx]

Hello @purewater0901

Thank you for your feature request. We have made several advancements in the Autoware project (you might also have participated in many of them) to address the dynamic obstacle avoidance requirement you outlined. Below are some of the key updates:

Dynamic Collision Avoidance:

• We have developed a Behavior Path Planner with Dynamic Avoidance aimed at ensuring safe navigation around dynamic obstacles including vehicular obstacles.
• The Dynamic Avoidance Module has been implemented to realize this dynamic obstacle avoidance.

Obstacle Avoidance Planner

• The Obstacle Avoidance Planner exists too.
  • I'm not sure if this makes uses of the velocity information or the predicted path of the target object.

@mehmetdogru @TakaHoribe do you think this feature is already implemented?
Do you have any comments on this topic, I'm still not very familiar with the planning component 😭

[stale]

This pull request has been automatically marked as stale because it has not had recent activity.