Add new a hyper parameter to enable or disable the avoidance in the last section #17
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AV-Security wants to merge 1 commit intohatem-darweesh:openplanner.1.15from
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Add new a hyper parameter to enable or disable the avoidance in the last section #17AV-Security wants to merge 1 commit intohatem-darweesh:openplanner.1.15from
AV-Security wants to merge 1 commit intohatem-darweesh:openplanner.1.15from
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Hello, the maintainers of OpenPlanner.
As discussed in hatem-darweesh/autoware.ai.openplanner#9, replan is not triggered if the current rollouts reach the goal. Thus some collision will happen while there are obstacles between ego and goal. In some scenarios(such as bus stop), as you mentioned, this is a reasonable design choice. We enable and disable avoidance manually in the last section based on the hyperparameter, as suggested by your opinion. This approach provides convenience for users to adapt to various driving scenarios. Regarding the use of this hyper-parameter, we have already made the corresponding submission hatem-darweesh/common#18.
We are eagerly awaiting your feedback and response.