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[SCENARIO-FAILED] Ego cannot expand drivable area to the opposite traffic lane during avoidance #93
Description
Test Information
| Scenario | Suite | Catalog |
|---|---|---|
| Test-dense-urban_ITRI2 | Dense Urban | Urban-Dense |
| Test-dense-urban_ITRI3 | Dense Urban | Urban-Dense |
| Test-dense-urban_ITRI4 | Dense Urban | Urban-Dense |
Test Runs
| Test Week | Test Run Link | Failure Rate | Source Version | Notes |
|---|---|---|---|---|
| 2025-04-13 | Test-dense-urban_ITRI2 | 1/1 | (ea21db7c) | Latest failure at time of issue creation |
| 2025-06-08 | Test-dense-urban_ITRI2 | 1/1 | (ae6b7de6) | Latest ongoing failure (at 2025-06-09) |
| 2025-04-13 | Test-dense-urban_ITRI3 | 1/1 | (ea21db7c) | Latest failure at time of issue creation |
| 2025-06-08 | Test-dense-urban_ITRI3 | 1/1 | (ae6b7de6) | Latest ongoing failure (at 2025-06-09) |
| 2025-04-13 | Test-dense-urban_ITRI4 | 1/1 | (ea21db7c) | Latest failure at time of issue creation |
| 2025-06-08 | Test-dense-urban_ITRI4 | 1/1 | (ae6b7de6) | Latest ongoing failure (at 2025-06-09) |
Failure Description
The ego vehicle is unable to expand the drivable area during the obstacle avoidance and is forced to stop behind the NPC.
Expected Behavior
The ego vehicle should be able to drive through the opposite direction traffic lane to perform an obstacle avoidance.
Affected Repositories
- odd-usecase-scenario
- autoware_universe
- autoware-projects
- Other repositories (specify below):
Similar Issues
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Due date
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Updates
- 2025-04-21: Issue creation
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[-][SCENARIO-FAILED] Test-dense-urban_ITRI(2|3|4) - Ego cannot expand drivable area to the opposite traffic lane during avoidance[/-][+][SCENARIO-FAILED] Ego cannot expand drivable area to the opposite traffic lane during avoidance[/+]diegoyabuki commentedon Jun 9, 2025
Looking into the static obstacle avoidance configuration file in the autoware_launch module, it seems that the feature should be able to perform avoidance using the opposite traffic lane.
Other avoidance scenarios, such as this are passing, which could point to the issue being related to the road handedness (works on LHT, fails on RHT).
stale commentedon Aug 30, 2025
This pull request has been automatically marked as stale because it has not had recent activity.
diegoyabuki commentedon Oct 13, 2025
Upon further analysis a problem with the map was identified. This issue should be handled by the ODD WG, so I will transfer it back to our repo.
diegoyabuki commentedon Oct 13, 2025
The ego vehicle's neighbor lanelet was not sharing a common linestring. The map was fixed and the scenarios updated. Once we have confirmation that the problem was solved we can close this issue.