Need for self-adapted horizontalSafetyDistance

[blabla-my]

Description

As horizontalSafetyDistance is a fixed parameter, it cannot be self-adapted while the driving envrionment is changing. So its value is sometimes too large and sometimes too small among different driving envrionments.

Hazard

In my testing, if horizontalSafetyDistance is:

• Too large: ego will stop due to a close NPC within the horizontalSafetyDistance, sometimes the the place that ego stops is dangerous (e.g.,highway) and cause collisions.
  • Video: https://youtu.be/r0Pz3-s_nDI. In this video the ego stops since the bicycle is too close, and a rear-end collision happend.
• Too small: ego sometimes is too close to obstacles, this is also dangerous.

Recall that the driving environment may change over time, so a fixed horizontalSafetyDistance won't fit for all driving environment. So a self-adapted horizontalSafetyDistance might be needed.

[hatem-darweesh]

Even if you make too small for slow speed. One design objective of having this safety rectangle is to compensate for Localization & detection errors. If you know that lateral localization error is +- 5 cm. then additional safety margin of 10 cm should be added at each direction. Same applied to detection.