apollo 3.0 navigation mode question

[freeclouds]

Dear apollo developer,

• Apollo version
  3.0

apollo 3.0 navigation mode support Multi Lane？

in the picture, can our vehicle run from left lane to middle lane when in the front of the car have obstacle ?
I read this infromation:
https://www.csdn.net/article/a/2018-04-24/15946728

It description as follow:
===>目前，导航模式仅支持单车道行驶，可完成加减速、跟车、遇障碍物减速停车或在车道宽度允许的情形下对障碍物绕行等功能，后续版本的导航模式将会进一步完善以支持多车道行驶、交通标志和红绿灯检测等。

for apollo 3.0 ,have further development in navigation mode?

[jilinzhou]

The information you read was from 2018-04-24. Outdated!

[freeclouds]

@jilinzhou so, the latest about navigation can mode support Multi Lane?

[dalmoveras]

Anyone trying to solve this? if no, i'll give it a try!

[yifeijiang]

Navigation mode supports multiple lanes and lane change in Apollo 3.0. You could use following command to send out multiple navigation lines:

dev_docker:/apollo/modules/tools/navigator$python navigator.py navigation_line_1 navigation_line_2

in this example, navigation_line_1 navigation_line_2 could be navigation line on two adjacent lanes. And navigation_line_1 has higher priority than 2.

[daviduhm]

@yifeijiang @jmtao @lianglia-apollo If Navigation mode supports multiple lanes and lane change, how does it detect other cars and avoid collisions when lane changing? What happens if there is a car coming from behind when the ego vehicle tries to change lane?

As far as I understand, Apollo 3.0 navigation mode uses front-facing camera and frontal radar only which means there is no LiDAR or other sensors to detect obstacles behind or beside.

Any clarification would be appreciated!

[yifeijiang]

@daviduhm If no sensors are supported for detecting back and side obstacles, you can use a manual input to trigger lane change