ApolloAuto
[Prediction Bug] Apollo did not generate a predicted trajectory for a vehicle.
Describe the bug
When the ego passed through the intersection, there was an NPC coming slowly(0.4m/s) on the left side. The ego failed to predict the trajectory of the NPC resulting in a collision with the NPC at the intersection.
*Note: Simulator platform was LGSVL and the perception results were ground-truth data provided by LGSVL.
System information OS Platform and Distribution: Ubuntu 18.04 Apollo installed from (source or binary): source Apollo version : 6.0 (master branch - commit b5bd74112e2ec5d7c65cad6bea592353de566156)
To Reproduce
The video corresponding to the collision scenario is in the attachment.
Expected behavior
The ego should predict the trajectory of the NPC correctly to evade it in time.
Additional context
It seems that EmptyPredictor in the prediction module is designed for vehicles with speeds less than a certain threshold (still_obstacle_speed_threshold:0.99m/s) to output empty predicted trajectories, which leads to the failure to output the predicted trajectory for the dangerous NPC in this scene. And if we change the still_obstacle_speed_threshold from 0.99m/s to 0.1 m/s, the collision can be avoided.
Demo Video
Before changing the still_obstacle_speed_threshold
https://user-images.githubusercontent.com/87695978/193719127-6a81eb3e-aff3-47b2-9d83-58c9c1d4e5ed.mp4
After changing the still_obstacle_speed_threshold
https://user-images.githubusercontent.com/87695978/193719152-b99b544c-3493-4223-9c85-7bea049cf1d7.mp4
Attachments
Same as https://github.com/ApolloAuto/apollo/issues/11104 and similar to https://github.com/ApolloAuto/apollo/issues/11118
