brkay54

• Got review from yuki-takagi-66 autowarefoundation/autoware_universe#8072 (comment)
  • He reported some issues about stop planning. He tried prd_jt scenarios and observed some issues. I run these scenarios again in my local. I couldn't observe the problems.
  • I shared his outputs and my trials below:
    • 1. A stop wall is inserted against the object at the lane change destination.
      • Local Test of DistR_UC-v2-B-03-00001_001_case01_cmn_general:
      • https://youtu.be/mxt0gnIn8Qo
    • 2. A stop decision is made even though the ego can pass the collision point before the pedestrian (the pedestrian will stop).
      • Local Test of DistR_UC-v2-D-01-00004_004_case01_cmn_general:
      • https://youtu.be/1aZEU3FjuUI
• 3. No stop wall against the in front object

brkay54

Scenario

LEO-UC-A-06-00 -> Rear-to-Front Vehicle Crossover

Initial condition

• EGO is running at Ve. There is a motorcycle behind the EGO at Vn.