fix(dynamic_avoidance): fix minor bugs and comment (#6358)

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

@@ -1066,11 +1066,11 @@ 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;
     }
-    // The ego and object are the opposite directional.
+    // 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 =
@@ -1082,10 +1082,10 @@ MinMaxValue DynamicAvoidanceModule::calcMinMaxLongitudinalOffsetToAvoid(
   }();
   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;
     }
-    // The ego and object are the opposite directional.
+    // 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;
   }();