Apollo: Regarding path decider, what's the difference between "side pass" decision and "overtake" decision?

[KevinYuk]

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[jmtao]

@KevinYuk
"SidePass" is a "lateral" object decision, similar to "Nudge". These decisions help ego vehicle to dudge obstacle(s) in lateral direction while passing them.
"SidePass" may cross lane boundaries little bit, and "Nudge" would be within the current lane.

"Overtake"/"Yield"/"Stop" are "longitudinal" object decisions when ego vehicle and other obstacles's path may cross.
OVERTAKE: ego vehicle shall arrive certain point BEFORE another vehicle/moving obstacle.
YIELD: ego vehicle shall arrive certain point AFTER another vehicle/moving obstacle.
STOP: ego vehicle shall STOP behind another vehicle/obstacle.

For more object decisions, please refer to:
https://github.com/ApolloAuto/apollo/blob/master/modules/planning/proto/decision.proto

Thanks for supporting Apollo!

[KevinYuk]

@jmtao
Nice. Beautiful summary!
BTW, from the link above, I also found "avoid" decision. What does that mean?

[jmtao]

@KevinYuk "avoid" decision is a special decision we design/plan for ESTOP.
When ADC is unable to self-driving properly, it'll enter estop scenario. It may hard-brake, or cruise via a safe route if possible. During this period, it still need to dudge/avoid obstacles, but the algrithmn/handling can be very different from Nudge decision in normal situation. That's the decision of AVOID.

[KevinYuk]

@jmtao The "avoid" decision is "lateral" object decision in safe route cruise scenario. Am I right?

[jmtao]

@KevinYuk yes. you are right. the "avoid" decision is a "lateral" object decision in e-stop mode. (we don't have a "safe route cruise" scenario though.)

hope our answer resolved your question. We will close the issue for now. If you have any additional question, please feel free to open a new issue. Our engineer team are more than happy to help that.

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