fix(staatic_obstacle_avoidance): allow return shift approval even if … #1324
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…return shift path is not within drivable area Signed-off-by: satoshi-ota <[email protected]>
saka1-s
requested review from
rej55,
kyoichi-sugahara,
shmpwk,
TakaHoribe,
TomohitoAndo and
tkimura4
as code owners
Merged
4 tasks
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Description
After avoidance is performed, it may be impossible to approve the behavior of returning to the original route due to environmental factors.
This may prevent the vehicle from continuing autonomous driving.
To solve this problem, the behavior of returning to the original route will not take drivable area constraints into account.
Tests performed
Tested by PSim.
with PR
withPR.mp4
without PR
withoutPR.mp4
Effects on system behavior
Not applicable.
Interface changes
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