From d09c60034e4fc0dc15499c6ea11a78732bae9585 Mon Sep 17 00:00:00 2001
From: kaigohirao <kaigo.hirao@proxima-ai-tech.com>
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) {