update

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

Author: kyoichi-sugahara

planning/behavior_path_start_planner_module/config/start_planner.param.yaml

@@ -6,7 +6,7 @@
       th_stopped_velocity: 0.01
       th_stopped_time: 1.0
       objects_collision_check_margins: [2.0, 1.0, 0.5, 0.1]
-      back_objects_collision_check_margin: 3.0
+      back_objects_collision_check_margin: 0.5
       collision_check_margin_from_front_object: 5.0
       th_moving_object_velocity: 1.0
       th_distance_to_middle_of_the_road: 0.5

planning/behavior_path_start_planner_module/include/behavior_path_start_planner_module/util.hpp

@@ -67,7 +67,6 @@ Pose getBackedPose(
  * lanelets. It compares each corner of the vehicle's transformed footprint with every corner of
  * object polygons to find the shortest distance within the lanelet system.
  */
-
 double calcMinArcLengthDistanceFromEgoToObjects(
   const tier4_autoware_utils::LinearRing2d & local_vehicle_footprint, const Pose & ego_pose,
   const lanelet::ConstLanelets & lanelets, const PredictedObjects & static_objects);

planning/behavior_path_start_planner_module/src/start_planner_module.cpp

@@ -1007,7 +1007,7 @@ std::vector<Pose> StartPlannerModule::searchPullOutStartPoseCandidates(
     if (
       (start_planner_utils::calcMinArcLengthDistanceFromEgoToObjects(
          local_vehicle_footprint, *backed_pose, pull_out_lanes,
-         back_stop_objects_in_pull_out_lanes) > parameters_->back_objects_collision_check_margin) &&
+         back_stop_objects_in_pull_out_lanes) < parameters_->back_objects_collision_check_margin) ||
       (utils::checkCollisionBetweenFootprintAndObjects(
         local_vehicle_footprint, *backed_pose, back_stop_objects_in_pull_out_lanes,
         parameters_->objects_collision_check_margins.back()))) {