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

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merged 3 commits into from
Feb 9, 2024
Merged

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

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12e8d0a
fix behavior_path_planner state
yuki-takagi-66 Feb 8, 2024
f6521da
revert
yuki-takagi-66 Feb 8, 2024
dcc124d
fix period
yuki-takagi-66 Feb 8, 2024
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2 changes: 0 additions & 2 deletions ...or_path_dynamic_avoidance_module/include/behavior_path_dynamic_avoidance_module/scene.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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(
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8 changes: 4 additions & 4 deletions planning/behavior_path_dynamic_avoidance_module/src/scene.cpp
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Expand Up @@ -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 =
Expand All @@ -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;
}();
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