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Implementation Object Collision Estimator Library

Liyou Zhou requested to merge liyouzhou/AutowareAuto:topics/liyou/object_collision_estimator_staging into master

Description

This library provides the core functionality for the Object Collision
Estimator.

The collision estimator takes a list of objects detected by the
perception stack and the local path produced by the local planner as
inputs. It then predicts any collisions between the ego vehicle and
static obstacles. Finally the local path is modified to avoid any
collisions.

Smoothing is also done on the velocity profile of the modified path by
using a gaussian filter. This is done in order to provide a more
realistically executable local path.

Related issues

  • #474 (closed): Estimate collisions based on detected objects and vehicle path (Object Collision Estimator)
  • #447 (closed): Implement Semantic-Map-Based Navigation and Planning

Checklist

  • Documentation was updated

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