Ego Car Not Yielding at Intersection

[xiafawu]

System information

• OS Platform and Distribution (e.g., Linux Ubuntu 18.04): Linux Ubuntu 18.04
• Apollo installed from (source or binary): Source
• Apollo version (3.5, 5.0, 5.5, 6.0): 6.0

Overview

We used the replay_perception.py script to generate obstacles going straight at the intersection in the Sunnyvale Loop map, and used sim control to run the ego car in dreamview

The ego car approaches an intersection and attempts to turn right, while another obstacle (a car) approaches the same intersection from the left side. The ego car mispredicts the trajectory of the obstacle; it predicted that the obstacle would make a left turn instead of driving straight, so it proceeds to turn right. The obstacle continues to drive straight and collides with the ego car.

In this case, the ego car could have yielded for the sake of safety, especially when it was unclear of where the obstacle is heading at the intersection. We would love to provide more info if you're interested. Thanks!

Supporting materials (screenshots, command lines, code/script snippets):

video
record

[ntutangyun]

The EGO vehicle produced a wrong overtake command.

similar to this issue:
#11137