18.1.0
Abstract
Currently, the NPC (Non-Player Character) collision avoidance feature operates based on lane coordinates on the map.
However, under certain map conditions, this approach can cause NPCs to behave unexpectedly, resulting in continuous collisions with vehicles ahead, such as Autoware-controlled cars.
To address this issue, we have added a new feature that determines whether an NPC’s future trajectory will intersect with the trajectories of Autoware vehicles or other NPCs.
This enhancement enables NPCs to consider their surroundings in a more intuitive and realistic manner.
Details
For more information on the algorithm and parameter configuration, please refer to the previously introduced PR for vehicle NPCs.
The algorithm used in this feature is shared across implementations.
Example of Behavior
Before
Even though there is a pedestrian with a width of 5 meters ahead, another pedestrian continues to move forward and collides with them.
before.mp4
After
The pedestrian detects the presence of another pedestrian ahead and stops to avoid a collision.
after.mp4
References
Destructive Changes
N/A
Known Limitations
N/A