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Separate collision avoidance from desired object clearance - #32
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gkueppers
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Oct 19, 2026
- Clear cached controls after a standstill trajectory. - Clamp negative initial acceleration at zero speed.
- Keep the soft clearance box as on main; the hard collision block follows it. - Rename safety_ego_obb/collision_reserve to clearance_obb/d_min_object_collision. - Adapt logger block order, README and config comments.
gkueppers
approved these changes
Oct 21, 2026
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d_min_object_collision(build parameter, default 0.10 m). This block never receives slacks.max(d_min_object_long, thw * v), sidesd_min_object_lat) but becomes soft viaobject_slack_weights(enable_object_slack: true). The clearance block keeps main's constraint indices; the collision block is appended.object_collision/object_clearanceand logs the largest clearance slack.Replay of the bag snippets: 66 → 16 rejected solves. CI runs (together with #31): 7.4 % → 0.6–0.9 % rejected while driving, longest publication gap 8.45 s → ≤ 1.45 s.
Known limitation: the clearance slack is the SAT penetration depth of the expanded box. For an object ahead it saturates at the lateral overlap (~1.7–2.7 m), so deeper THW violations cost the same and the gradient points sideways. Reconstructed cycles at campus-loop scenario ~820 m (crossing vehicle) show 0.8–1.3 m planned lateral evasion caused by the THW part.
Follow-up: measure THW along the path to the in-path object.