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Commit dcc124d

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fix period
Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp>
1 parent f6521da commit dcc124d

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  • planning/behavior_path_dynamic_avoidance_module/src

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planning/behavior_path_dynamic_avoidance_module/src/scene.cpp

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Original file line numberDiff line numberDiff line change
@@ -1070,7 +1070,7 @@ MinMaxValue DynamicAvoidanceModule::calcMinMaxLongitudinalOffsetToAvoid(
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return std::min(time_while_collision.time_to_start_collision, 8.0) * std::abs(obj_vel) +
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std::abs(relative_velocity) * parameters_->start_duration_to_avoid_oncoming_object;
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}
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// The ego and object are the same directional
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// The ego and object are the same directional.
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const double obj_acc = -0.5;
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const double decel_time = 1.0;
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const double obj_moving_dist =
@@ -1085,7 +1085,7 @@ MinMaxValue DynamicAvoidanceModule::calcMinMaxLongitudinalOffsetToAvoid(
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// The ego and object are the opposite directional or the object is parked.
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return std::abs(relative_velocity) * parameters_->end_duration_to_avoid_oncoming_object;
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}
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// The ego and object are the same directional
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// The ego and object are the same directional.
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return std::min(time_while_collision.time_to_end_collision, 3.0) * obj_vel +
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std::abs(relative_velocity) * parameters_->end_duration_to_avoid_overtaking_object;
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}();

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