Planning & intersection management

[08beeqtufail-sudo]

Hell everyone,
First of all, thank you for the wonderful work. I am testing autoware universe repository of autoware foundatio. Even though the behavior in intersections remains correct, i have faced one special use-case which needs some attention. Imagine that we have an intersection, where there's a stop line and the ego-vehicle has to yield for vehicles coming from left and right. Now imagine that there's an obstacle stopped just after the stop line. In this case, the ego-vehicle should be stopped at the stop line, by the intersection scene module in behavior velocity planner. But in the current state, ego-vehicle is stopped some meters before the stop line because of the obstacle stop planner module, trying to keep a certain distance from the obstacle.
This can be seen in the image below:

This produces an unnatural behavior. We humans would have stopped at the stop line, rather than stopping some meters away from the obstacle.
So is there a possibility to deactivate the obstacle stop planner when the intersection module has already created a stop line, or some other ideas to manage this use-case?

[TakaHoribe]

@08beeqtufail-sudo Thank you for your post. We have the parameter stop_planner.min_behavior_stop_margin to manage this behavior.

The stop_planner 's behavior is like this:

• Set v=0 at the point from stop_margin distance from an obstacle.
• If another stop point already exists between an obstacle and ego (like in this case), set v=0 at the point from min_behavior_stop_margin distance from an obstacle.

Generally min_behavior_stop_margin is set to be smaller than the stop_margin. See the default parameter.

If you tune the parameter min_behavior_stop_margin, the vehicle will move as you expect.

The readme here, not well written about this parameter though.

[08beeqtufail-sudo]

@TakaHoribe Thanks for your reply. Indeed i have tuned stop_planner.min_behavior_stop_margin parameter and i get the expected results. The ego_vehicle stops correctly at the intersection stop line.