Drivable area expansion for static obstacle avoidance

[mehmetdogru]

For 2 different use cases, drivable area expansion is changing depending on where is the ego headed. If branching lanelets are on the route drivable area is expanded as expected (Case-2). However if branching lanelets are not on the route drivable area expansion is not complete. (Case-1)

• generateExpandedDrivableLanes function is responsible for the expansion.
• Even though I use getPreviousLanelets instead of getPreviousLaneletsWithinRoute I can not query previous lanelet of lanelet-1

• My question is that is there a tidy way of achieving a complete drivable area expansion for Case-1 ?