Can't stop before blocking obstacle in parking

[alanmengg]

Checklist

• [X] I've read the contribution guidelines.
• [X] I've searched other issues and no duplicate issues were found.
• [X] I'm convinced that this is not my fault but a bug.

Description

When simulating in parking lot , if an obstacle blocks the trajectory and there is no available trajectory to reach the goal, the car can't stop before the obstacle and passes through it.

Expected behavior

Vehicle should stop if there is no available path.

Actual behavior

Vehicle can't stop and passes through the obstacle.

Steps to reproduce

1. Run the planning simulator with parking lot, set a goal and engage.
2. Put a obstacle to block the ego vehicle.

Versions

ubuntu 20.04 galactic universe:main

Possible causes

the published stop trajectory doesn't actually work because it's current pose, and control module can't stop the car with 0 distance.

Additional context

No response

[xmfcx]

@alanmengg could you please share the resources and commands to reproduce this issue? Like maps used.

[alanmengg]

here is the lanelet map I used for the simulation lishui_parking.zip

[mitsudome-r]

@TakaHoribe It would be nice if you can assign someone from TIER IV's planning team to take a look at this.

[shmpwk]

Related PR https://github.com/autowarefoundation/autoware.universe/pull/985

[raminterpl]

@alanmengg : Hi, can you pls share me map used for this parking scenario

[alanmengg]

@alanmengg : Hi, can you pls share me map used for this parking scenario

here is the map map.zip

[raminterpl]

@alanmengg : I confirm the same behavior . Ego vehicle is not stopping if there is an obstacle in trajectory path in Parking.

g

[shmpwk]

@alanmengg Looks like this issue is not completed yet? If completed, it is helpful to give us the evidence.

[mitsudome-r]

@alanmengg friendly ping.