[Request for Feedback] Planning with large vehicles: out_of_lane and dynamic drivable area expansion

[maxime-clem]

I would like to gather feedback around Autoware features related to planning with large vehicles (e.g., buses).

• Dynamic drivable area expansion: expand the drivable area to allow ego to drive through narrow roads and turns.
  • Documentation page.
  • Original discussion.
• out_of_lane module in the behavior_velocity_planner: stop before ego enters another lane with incoming vehicles.
  • Documentation page.

If you have experience using these features, or ideas about improvements, please share them in this discussion.