Estimate collisions based on detected objects and vehicle path (Object Collision Estimator)
Description
This node needs to take as input a list of dynamic objects detected by the perception stack and the Local Path produced by the Local Planner. The node should then estimate the projected paths of the dynamic objects given some time horizon and detect any expected collision between the ego vehicle if it follows the expected path and any dynamic object if it follows the predicted path. The Object Collision Estimator should then modify the Local Path and pass it back to the Behavior Planner.
Definition of Done
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Create stub architecture for the Object Collision Estimator (including design document) -
Implement dynamic object path estimation code and tests -
Implement collision estimation code and tests -
Create documentation on using the Object Collision Estimator
Edited by Joshua Whitley