Mission planning trajectory crosses lane boundaries in Autoware

[chen103226]

I am testing mission planning in Autoware, but I found that the generated trajectory is not correct. The planned path sometimes goes outside of the lane boundaries and even across road edges, instead of following the centerline of the lane.

[mitsudome-r]

Could you provide which versions of Autoware you are using? (If you are not sure, you can share us your autoware.repos file that you used to setup your environment)

That being said, I think it is similar issue with this https://github.com/orgs/autowarefoundation/discussions/6068 so you could try modifying the refine goal parameter as follows.

Could you try making the refine_goal_search_radius_range smaller in behavior_path_planner parameter(maybe to like 1.5 m)? It removes some of the planned path points before the goal for refining and smoothing out the path, but the parameter is tuned for larger vehicle and environment.