fix behavior_path_planner state

fix incorrect comments

Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp>

Author: yuki-takagi-66

planning/behavior_path_dynamic_avoidance_module/include/behavior_path_dynamic_avoidance_module/scene.hpp

@@ -345,8 +345,6 @@ class DynamicAvoidanceModule : public SceneModuleInterface
 
   bool canTransitFailureState() override { return false; }
 
-  ModuleStatus setInitState() const override { return ModuleStatus::IDLE; }
-
   bool isLabelTargetObstacle(const uint8_t label) const;
   void updateTargetObjects();
   LatFeasiblePaths generateLateralFeasiblePaths(

planning/behavior_path_dynamic_avoidance_module/src/scene.cpp

@@ -1066,28 +1066,30 @@ MinMaxValue DynamicAvoidanceModule::calcMinMaxLongitudinalOffsetToAvoid(
   // calculate bound start and end length
   const double start_length_to_avoid = [&]() {
     if (obj_vel < parameters_->max_stopped_object_vel) {
-      // The ego and object are the same directional or the object is parked.
+      // The ego and object are the opposite directional or the object is parked.
       return std::min(time_while_collision.time_to_start_collision, 8.0) * std::abs(obj_vel) +
              std::abs(relative_velocity) * parameters_->start_duration_to_avoid_oncoming_object;
+    } else {
+      // The ego and object are the same directional
+      const double obj_acc = -0.5;
+      const double decel_time = 1.0;
+      const double obj_moving_dist =
+        (std::pow(std::max(obj_vel + obj_acc * decel_time, 0.0), 2) - std::pow(obj_vel, 2)) / 2 /
+        obj_acc;
+      const double ego_moving_dist = getEgoSpeed() * decel_time;
+      return std::max(0.0, ego_moving_dist - obj_moving_dist) +
+             std::abs(relative_velocity) * parameters_->start_duration_to_avoid_overtaking_object;
     }
-    // The ego and object are the opposite directional.
-    const double obj_acc = -0.5;
-    const double decel_time = 1.0;
-    const double obj_moving_dist =
-      (std::pow(std::max(obj_vel + obj_acc * decel_time, 0.0), 2) - std::pow(obj_vel, 2)) / 2 /
-      obj_acc;
-    const double ego_moving_dist = getEgoSpeed() * decel_time;
-    return std::max(0.0, ego_moving_dist - obj_moving_dist) +
-           std::abs(relative_velocity) * parameters_->start_duration_to_avoid_overtaking_object;
   }();
   const double end_length_to_avoid = [&]() {
     if (obj_vel < parameters_->max_stopped_object_vel) {
-      // The ego and object are the same directional or the object is parked.
+      // The ego and object are the opposite directional or the object is parked.
       return std::abs(relative_velocity) * parameters_->end_duration_to_avoid_oncoming_object;
+    } else {
+      // The ego and object are the same directional
+      return std::min(time_while_collision.time_to_end_collision, 3.0) * obj_vel +
+             std::abs(relative_velocity) * parameters_->end_duration_to_avoid_overtaking_object;
     }
-    // The ego and object are the opposite directional.
-    return std::min(time_while_collision.time_to_end_collision, 3.0) * obj_vel +
-           std::abs(relative_velocity) * parameters_->end_duration_to_avoid_overtaking_object;
   }();
 
   // calculate valid path for the forked object's path from the ego's path