feat(behavior_path_planner_common): add safety target object located on shoulder lane #6839
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…lder lane Signed-off-by: kyoichi-sugahara <[email protected]>
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…on shoulder lane (autowarefoundation#6839) feat(behavior_path_planner_common): add target object located on shoulder lane Signed-off-by: kyoichi-sugahara <[email protected]>
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…on shoulder lane (autowarefoundation#6839) feat(behavior_path_planner_common): add target object located on shoulder lane Signed-off-by: kyoichi-sugahara <[email protected]>
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Description
Previously, including dynamic objects present in the shoulder lane as part of the safety check led to unnecessary stops when the ego vehicle started moving. However, completely ignoring objects in the shoulder lane can result in potentially dangerous situations.
For the reasons mentioned above, this PR includes changes to incorporate objects present in the shoulder lane as part of the safety check.
Tests performed
with this PR: object on the shoulder lane is checked and start_planner insert the stop line
Not applicable.
Effects on system behavior
Not applicable.
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