Obstacle Avoidance Replan Error

[QZJGeorge]

Checklist

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

Description

Hello, we are testing the autoware stack in the simulation with our map. Most things run out fine, except one problem: as shown in the video, the ego vehicle tried to yield to a background vehicle at a roundabout by performing a path replan but somehow triggered an error. We have looked into the issue and tuned some parameters in the avoidance files but the error persists. I have attached a demo video and the raw log output from autoware. Please take a look, any fix or explanation is appreciated!

log.txt

roundabout.abnormal.behavior.mp4

Expected behavior

Autoware vehicle successfully avoids the background vehicle.

Actual behavior

Autoware vehicle reported planning and control error during yielding.

Steps to reproduce

For confidential reasons we cannot provide the full map of our testing environment. If needed, we are willing to provide a partial map to help reproduce the issue! Thank you!

Versions

No response

Possible causes

No response

Additional context

No response

[yuki-takagi-66]

Thank you for the report.
I can't be sure, but this PR may fix this problem: #5575. Could you retest with the PR imported?

[QZJGeorge]

Excellent! After applying the changes, the situation has been largely improved.

Could you please explain the changes and why the previous design was not working?

[yuki-takagi-66]

This problem is caused by inappropriate use of motion_utils::findFirstNearestSegmentIndexWithSoftConstraints().
For more details, please see the description of PR.