What is the role of the task of ST_BOUNDS_DECIDER?

[benlvzi]

The task ST_BOUNDS_DECIDER provider drivable boundary to other tasks, but planning module default configuration:
/apollo/modules/planning/conf/planning.conf: 43
44: --use_st_drivable_boundary=false 45 I don't think task ST_BOUNDS_DECIDER will have an impact on the subsequent tasks , because the subsequent tasks did not use drivable boundary. Is the understanding correct？

[benlvzi]

我感觉 ST_BOUNDS_DECIDER虽然内部既有边界的决策也有速度决策，根据这些决策最终度确定了可行区域，但是如果后面没有使用可行区域，这些决策对后面的任务没有什么影响(除了 IGNORE decision)

[dajiba6]

楼主有什么新见解吗,最近也在看这个,把use_st_drivable_boundary设为true之后反而有些场景车会撞到障碍物