From 78b118240656e0904aa6ffe5eeaadb655aa2a651 Mon Sep 17 00:00:00 2001 From: mohammad alqudah Date: Tue, 24 Dec 2024 11:59:28 +0900 Subject: [PATCH] ensure actual prepare duration is always above minimum prepare duration threshold Signed-off-by: mohammad alqudah --- .../src/utils/calculation.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/calculation.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/calculation.cpp index 4fbc80ced842f..a0130fcd27041 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/calculation.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/calculation.cpp @@ -445,7 +445,7 @@ double calc_actual_prepare_duration( if (max_acc < eps) { return params.max_prepare_duration; } - return (min_lc_velocity - current_velocity) / max_acc; + return std::max((min_lc_velocity - current_velocity) / max_acc, params.min_prepare_duration); }); return std::max(params.max_prepare_duration - active_signal_duration, min_prepare_duration);