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planning/behavior_path_dynamic_avoidance_module/src
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lines changed Original file line number Diff line number Diff 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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