Avoidance not happening, furthest linestring distance is measuring the wrong side?

[MrOCW]

Hi,
I am attempting to avoid this static simulated bus by driving to the opposite lane. From my understanding, the furthest linestring distance should be measured till the opposite lane's road shoulder? But in this case, the measurement seems to be measured up till the same lane's road shoulder. It seems that once the lateral_distance_from_centerline < 0, to_road_shoulder_distance starts measuring distance up till the same lane's road shoulder.

I have set threshold_distance_object_is_on_center: -0.5 so it should avoid vehicles that are on the center of the lane?

Looking at the code: bool isOnRight(const ObjectData & obj) { return obj.lateral < 0.0; } in avoidance_utils.cpp, should obj.lateral be less -(width of the lane - some threshold)?
I've changed 0.0 to -0.2 as a test value and the avoidance worked now. Would it be better to have a comparison between the distance of obstacle to both side of the road shoulder and use the larger/smaller value to determine which side the obstacle is on instead of using the bool isOnRight logic?

[zulfaqar-azmi-t4]

Hi @MrOCW

The avoidance_module is not designed for avoiding obstacle in the middle of the lane (there is a discussion over here that address this), hence based on the image, it seems that you have placed the object at the center and slightly to the right. In this case, it seems that it work as expected and not a bug.

[MrOCW]

Yes I am aware that it is not meant to avoid object on the center, but just wondering if it might be a useful feature to have by exposing this value as a parameter