Question about GetBoundaryFromStaticObstacles

[lucafei]

hi, guys, i have a question about GetBoundaryFromStaticObstacles, as apollo explaining, this function will decide to nudge by left or right through estimating the distance between center line and obstacle center. For this a problem turn out, if two different obstacles stay closely and nearby center line. Then it maybe make a decision that nudge a obstacle by left and other obstacle by right. Finally it causes in path blocked, but it obviously has a solution that ego nudge by other space like in following picture.

Do u guys have met this problem and any advice to solve it