Apollo: why car stops at the junction

[diff8911]

System information

• OS Platform and Distribution (e.g., Linux Ubuntu 14.04): Linux Ubuntu 14.04
• Apollo installed from (source or binary): source
• Apollo version (1.0, 1.5, 2.0, 2.5, 3.0): 3.0

Steps to reproduce the issue:

• after starting the dreamview, I open the SimControl mode and select module Routing and Planning，chose the first default routing

• the car runs well at start，but stops at a junction and never starts again, as the followed picture.
  

• why this happen and how can I fix it?

thank you very much.

[jmtao]

@diff8911 ego vehicle may stop at junction because of traffic rule (stop sign, traffic light, and etc).
You can switch to default view (vs Overhead view in your screen shot), to see the red stop fence. There's a sign attached to it, pretty self-explanatory what's the reason for this stop fence.
Or you can use cyber_minor to view /apollo/planning topic, to see what's the stop reason for it.

[diff8911]

@jmtao Thank you for your reply. How can I change the red to green, or how can I just remove the fence?

[jmtao]

@diff8911 It depends on what's the stop reason in your case (red light, or stop sign).

[diff8911]

@jmtao
Could you please tell me how to turn the red light to green and how to remove the stop sign?

[hyunjaecho94]

I'm having a similar issue. The car stops at a traffic light and even after it turns green, the car does not move. If I manually move the car a little forward, then it follows the route again automatically. If the traffic light is green at the time of passing, then the behavior is fine; it continues without problem.

[jmtao]

@diff8911

• for traffic-light, you can try "scripts/manual_light.sh", it would flip the current light color for you.
• for stop-sign, you can't bypass the stop sign on the fly if your car is supposed to STOP. If you don't care about the stop-sign behavior and FEEL SAFE, you can disable stop-sign feature. The gflag is "enable_scenario_stop_sign" at
  https://github.com/ApolloAuto/apollo/blob/master/modules/planning/common/planning_gflags.h

[jmtao]

Hi @diff8911 , 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.

Thank you for supporting Apollo!