From d09c60034e4fc0dc15499c6ea11a78732bae9585 Mon Sep 17 00:00:00 2001 From: kaigohirao Date: Thu, 29 Feb 2024 15:47:33 +0900 Subject: [PATCH 1/2] fix stopping in front of a no stopping area in ego vehicle parking on the shoulder --- .../src/scene_no_stopping_area.cpp | 9 ++++++--- 1 file changed, 6 insertions(+), 3 deletions(-) diff --git a/planning/behavior_velocity_no_stopping_area_module/src/scene_no_stopping_area.cpp b/planning/behavior_velocity_no_stopping_area_module/src/scene_no_stopping_area.cpp index e049d02ffe9b5..48582349dd3aa 100644 --- a/planning/behavior_velocity_no_stopping_area_module/src/scene_no_stopping_area.cpp +++ b/planning/behavior_velocity_no_stopping_area_module/src/scene_no_stopping_area.cpp @@ -324,9 +324,7 @@ Polygon2d NoStoppingAreaModule::generateEgoNoStoppingAreaLanePolygon( } ++ego_area_start_idx; } - if (ego_area_start_idx > num_ignore_nearest) { - ego_area_start_idx--; - } + if (!is_in_area) { return ego_area; } @@ -338,6 +336,11 @@ Polygon2d NoStoppingAreaModule::generateEgoNoStoppingAreaLanePolygon( const auto & p = pp.at(i).point.pose.position; if (!bg::within(Point2d{p.x, p.y}, lanelet::utils::to2D(no_stopping_area).basicPolygon())) { dist_from_area_sum += tier4_autoware_utils::calcDistance2d(pp.at(i), pp.at(i - 1)); + + // do not take extra distance and exit as soon as p is outside no stopping area + // just a temporary fix + ego_area_end_idx = i-1; + break; } if (dist_from_start_sum > extra_dist || dist_from_area_sum > margin) { break; From 32e4b0f8781398471a498711467aad610ead9230 Mon Sep 17 00:00:00 2001 From: "pre-commit-ci[bot]" <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Thu, 29 Feb 2024 07:52:52 +0000 Subject: [PATCH 2/2] style(pre-commit): autofix --- .../src/scene_no_stopping_area.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/planning/behavior_velocity_no_stopping_area_module/src/scene_no_stopping_area.cpp b/planning/behavior_velocity_no_stopping_area_module/src/scene_no_stopping_area.cpp index 48582349dd3aa..92afd25026a70 100644 --- a/planning/behavior_velocity_no_stopping_area_module/src/scene_no_stopping_area.cpp +++ b/planning/behavior_velocity_no_stopping_area_module/src/scene_no_stopping_area.cpp @@ -339,7 +339,7 @@ Polygon2d NoStoppingAreaModule::generateEgoNoStoppingAreaLanePolygon( // do not take extra distance and exit as soon as p is outside no stopping area // just a temporary fix - ego_area_end_idx = i-1; + ego_area_end_idx = i - 1; break; } if (dist_from_start_sum > extra_dist || dist_from_area_sum > margin) {