[Bug]: MotionPlanning: Empty Trajectory When Leaving Trajectory Too Far

by ADMIN 72 views

Introduction

Motion planning is a crucial component of autonomous vehicles, enabling them to navigate through complex environments and avoid obstacles. However, a bug in the MotionPlanning module can cause the system to get stuck in its initialization routine when the car leaves the trajectory at a distance greater than 100. In this article, we will delve into the current behavior, expected behavior, and steps to reproduce this issue.

Current Behavior

When the car leaves the trajectory at a distance greater than 100, the MotionPlanning module fails to generate a valid trajectory, resulting in an empty trajectory. This causes the system to get stuck in its initialization routine, preventing the vehicle from continuing its journey.

### Current Behavior

*   The MotionPlanning module fails to generate a valid trajectory when the car leaves the trajectory at a distance greater than 100.
*   The system gets stuck in its initialization routine, preventing the vehicle from continuing its journey.
*   The empty trajectory is generated due to the failure of the MotionPlanning module to find a valid path.

Expected Behavior

The MotionPlanning module should be able to generate a valid trajectory even when the car leaves the trajectory at a distance greater than 100. The system should not get stuck in its initialization routine, and the vehicle should be able to continue its journey.

### Expected Behavior

*   The MotionPlanning module should be able to generate a valid trajectory even when the car leaves the trajectory at a distance greater than 100.
*   The system should not get stuck in its initialization routine.
*   The vehicle should be able to continue its journey without any issues.

Steps to Reproduce

Unfortunately, there is no clear step-by-step guide to reproduce this issue. However, we can provide some general guidelines to help you understand the problem better.

### Steps to Reproduce

*   Create a scenario where the car leaves the trajectory at a distance greater than 100.
*   Observe the behavior of the MotionPlanning module and note the empty trajectory generated.
*   Analyze the system's behavior and identify the root cause of the issue.

Definition of Done

Unfortunately, there is no clear definition of done for this issue. However, we can provide some general guidelines to help you understand the problem better.

### Definition of Done

*   The MotionPlanning module should be able to generate a valid trajectory even when the car leaves the trajectory at a distance greater than 100.
*   The system should not get stuck in its initialization routine.
*   The vehicle should be able to continue its journey without any issues.

Testability

Unfortunately, there is no clear testability guide for this issue. However, we can provide some general guidelines to help you understand the problem better.

### Testability

*   Create a test scenario where the car leaves the trajectory at a distance greater than 100.
*   Verify that the MotionPlanning module generates a valid trajectory.
*   Verify that the system does not get stuck in its initialization routine.

Dependencies

Unfortunately, there is no clear list of dependencies for this issue. However, we can provide some general guidelines to help you understand the problem better.

### Dependencies

*   The MotionPlanning module depends on the trajectory data to generate a valid path.
*   The system depends on the MotionPlanning module to navigate through the environment.
*   The vehicle depends on the system to continue its journey.

Conclusion

In conclusion, the MotionPlanning module's failure to generate a valid trajectory when the car leaves the trajectory at a distance greater than 100 causes the system to get stuck in its initialization routine. This issue can be resolved by improving the MotionPlanning module's ability to handle such scenarios. By following the guidelines provided in this article, you can help resolve this issue and ensure that the MotionPlanning module generates a valid trajectory even in challenging scenarios.

Recommendations

Based on the analysis of the issue, we recommend the following:

  • Improve the MotionPlanning module's ability to handle scenarios where the car leaves the trajectory at a distance greater than 100.
  • Enhance the system's ability to navigate through complex environments.
  • Verify the MotionPlanning module's performance in various scenarios to ensure that it generates a valid trajectory.

Future Work

In the future, we plan to:

  • Improve the MotionPlanning module's ability to handle multiple scenarios.
  • Enhance the system's ability to adapt to changing environments.
  • Verify the MotionPlanning module's performance in various scenarios to ensure that it generates a valid trajectory.

Acknowledgments

We would like to thank the team for their efforts in identifying and analyzing this issue. We appreciate their dedication to resolving this issue and improving the MotionPlanning module's performance.

References

Introduction

In our previous article, we discussed the issue of the MotionPlanning module getting stuck in its initialization routine when the car leaves the trajectory at a distance greater than 100. In this article, we will provide a Q&A section to help you better understand the issue and its resolution.

Q: What is the current behavior of the MotionPlanning module?

A: The current behavior of the MotionPlanning module is that it fails to generate a valid trajectory when the car leaves the trajectory at a distance greater than 100. This causes the system to get stuck in its initialization routine, preventing the vehicle from continuing its journey.

Q: What is the expected behavior of the MotionPlanning module?

A: The expected behavior of the MotionPlanning module is that it should be able to generate a valid trajectory even when the car leaves the trajectory at a distance greater than 100. The system should not get stuck in its initialization routine, and the vehicle should be able to continue its journey without any issues.

Q: How can I reproduce this issue?

A: Unfortunately, there is no clear step-by-step guide to reproduce this issue. However, you can create a scenario where the car leaves the trajectory at a distance greater than 100 and observe the behavior of the MotionPlanning module.

Q: What are the dependencies of the MotionPlanning module?

A: The MotionPlanning module depends on the trajectory data to generate a valid path. The system depends on the MotionPlanning module to navigate through the environment, and the vehicle depends on the system to continue its journey.

Q: How can I improve the MotionPlanning module's ability to handle scenarios where the car leaves the trajectory at a distance greater than 100?

A: You can improve the MotionPlanning module's ability to handle scenarios where the car leaves the trajectory at a distance greater than 100 by:

  • Enhancing the system's ability to navigate through complex environments.
  • Improving the MotionPlanning module's ability to handle multiple scenarios.
  • Verifying the MotionPlanning module's performance in various scenarios to ensure that it generates a valid trajectory.

Q: What are the benefits of resolving this issue?

A: Resolving this issue will improve the MotionPlanning module's ability to handle scenarios where the car leaves the trajectory at a distance greater than 100. This will enable the system to navigate through complex environments and prevent the vehicle from getting stuck in its initialization routine.

Q: How can I verify the MotionPlanning module's performance in various scenarios?

A: You can verify the MotionPlanning module's performance in various scenarios by:

  • Creating test scenarios where the car leaves the trajectory at a distance greater than 100.
  • Observing the behavior of the MotionPlanning module and verifying that it generates a valid trajectory.
  • Analyzing the system's behavior and identifying any issues that may arise.

Q: What are the future plans for improving the MotionPlanning module?

A: In the future, we plan to:

  • Improve the MotionPlanning module's ability to handle multiple scenarios.
  • Enhance the system's ability to adapt to changing environments.
  • Verify the MotionPlanning module's performance in various scenarios to ensure that it generates a valid trajectory.

Conclusion

In conclusion, the MotionPlanning module's failure to generate a valid trajectory when the car leaves the trajectory at a distance greater than 100 causes the system to get stuck in its initialization routine. By following the guidelines provided in this article, you can help resolve this issue and ensure that the MotionPlanning module generates a valid trajectory even in challenging scenarios.

Recommendations

Based on the analysis of the issue, we recommend the following:

  • Improve the MotionPlanning module's ability to handle scenarios where the car leaves the trajectory at a distance greater than 100.
  • Enhance the system's ability to navigate through complex environments.
  • Verify the MotionPlanning module's performance in various scenarios to ensure that it generates a valid trajectory.

Future Work

In the future, we plan to:

  • Improve the MotionPlanning module's ability to handle multiple scenarios.
  • Enhance the system's ability to adapt to changing environments.
  • Verify the MotionPlanning module's performance in various scenarios to ensure that it generates a valid trajectory.

Acknowledgments

We would like to thank the team for their efforts in identifying and analyzing this issue. We appreciate their dedication to resolving this issue and improving the MotionPlanning module's performance.

References