Improve dynamic_obstacle_avoidance_module

[beyzanurkaya]

Checklist

• I've read the contribution guidelines.
• I've searched other issues and no duplicate issues were found.
• I've agreed with the maintainers that I can plan this task.

Description

The main issue: #7485

The dynamic_obstacle_avoidance_module currently has several limitations that hinder its performance and reliability. Specifically:

1. Inaccurate Drivable Area: #7684
2. Stability Issues: #7689
3. Expansion of drivable area: #7690

• Limited avoidance: The module can only shift the vehicle up to 0.5 meters to avoid obstacles. Exceeding this limit causes the node to crash.
• Inability to change lanes: The module cannot change lanes when necessary when avoiding dynamic objects.

Purpose

The purpose of this issue is to enhance the dynamic_obstacle_avoidance_module by addressing the current limitations. The goal is to improve the module's flexibility, reliability, and overall performance in dynamic obstacle avoidance scenarios.

Possible approaches

1. Correct cutting of the drivable area:

• Enhancing the current algorithm to accurately trim the drivable area around dynamic obstacles.

2. Increase Stability:

• Perform extensive testing and debugging to identify stability issues.
• Improve the cutting algorithm of the drivable area according to the debugging result.

3. Expand Drivable Area:

• Develop algorithms to dynamically adjust the drivable area based on obstacle detection.
• Refactor the module to handle shifts greater than 0.5 meters without causing crashes.
• Modify the obstacle avoidance algorithm to allow safe lane changes when avoiding dynamic obstacles.
• Integrate the ability to expand the drivable area to accommodate larger avoidance maneuvers temporarily.
• Ensure the expanded drivable area maintains safety and compliance with road regulations.

Definition of done

• The module allows the EGO vehicle to safely change lanes when avoiding dynamic obstacles.
• The module can handle shifts greater than 0.5 meters without crashing.
• The module operates consistently and stably under a variety of dynamic obstacle scenarios.
• The module can dynamically expand the drivable area as needed to effectively avoid obstacles.
• Documentation is updated to reflect the changes and new capabilities of the module.

By addressing these areas, the dynamic_obstacle_avoidance_module will become more robust, flexible, and capable of handling complex dynamic obstacle scenarios effectively.

[stale]

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