wusx
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wusx
In Apollo 9, only static obstacle avoidance can be triggered; overtaking dynamic obstacles is not possible.
Module: Planning
当路径终点前有一个静态障碍物，车辆进入借道任务，同时距离满足pullover。但是由于处于借道任务，车辆运动到终点附近 无法靠边停车？