From b713d7c0201b6ce1dfc62f663954a46e9ad041e3 Mon Sep 17 00:00:00 2001
From: berndgassmann <bernd.gassmann@intel.com>
Date: Tue, 31 Aug 2021 13:01:52 +0200
Subject: [PATCH] Fix map-integration intersection scene

Fix: ad_rss_map_integration don't shorten route too much within
intersections when incoming route starts at intersection entry while
vehicle already entered.

* Update map to v2.4.5_hotfix
---
 ad_rss_map_integration/impl/src/RssSceneCreation.cpp  | 3 ++-
 ad_rss_map_integration/python/tests/interface_test.py | 2 +-
 dependencies/map                                      | 2 +-
 doc/CHANGELOG.md                                      | 1 +
 4 files changed, 5 insertions(+), 3 deletions(-)

diff --git a/ad_rss_map_integration/impl/src/RssSceneCreation.cpp b/ad_rss_map_integration/impl/src/RssSceneCreation.cpp
index 4bf7932f54..4739964b8f 100644
--- a/ad_rss_map_integration/impl/src/RssSceneCreation.cpp
+++ b/ad_rss_map_integration/impl/src/RssSceneCreation.cpp
@@ -157,7 +157,8 @@ bool RssSceneCreation::appendStructuredScenes(::ad::rss::map::RssSceneCreator &s
     {
       // for the analysis we are only interested in the near term route
       auto shortenedRoute = egoRouteInput;
-      ::ad::map::route::shortenRouteToDistance(shortenedRoute, predictionLength);
+      ::ad::map::route::shortenRouteToDistance(shortenedRoute,
+                                               std::max(predictionLength, ::ad::physics::Distance(100.)));
       egoPredictedRoutes.push_back(shortenedRoute);
     }
 
diff --git a/ad_rss_map_integration/python/tests/interface_test.py b/ad_rss_map_integration/python/tests/interface_test.py
index ff824aae0b..8c7aa737f9 100644
--- a/ad_rss_map_integration/python/tests/interface_test.py
+++ b/ad_rss_map_integration/python/tests/interface_test.py
@@ -189,7 +189,7 @@ def test_interface(self):
         longitudinal_distance = rss_situation_snapshot.situations[0].relativePosition.longitudinalDistance
 
         self.assertTrue(rss_proper_response.isSafe)
-        self.assertEqual(longitudinal_distance, ad.physics.Distance(104.411))
+        self.assertEqual(longitudinal_distance, ad.physics.Distance(104.415))
 
         self.world_model.timeIndex += 1
 
diff --git a/dependencies/map b/dependencies/map
index 2f7d2f2116..a318c4b425 160000
--- a/dependencies/map
+++ b/dependencies/map
@@ -1 +1 @@
-Subproject commit 2f7d2f2116e6305d4d48f1ead78239fa11f4a00f
+Subproject commit a318c4b4254623817922b7f4fac8ad192a866fd4
diff --git a/doc/CHANGELOG.md b/doc/CHANGELOG.md
index 96ba3bb45a..9736ad507b 100644
--- a/doc/CHANGELOG.md
+++ b/doc/CHANGELOG.md
@@ -4,6 +4,7 @@
 
 #### :ghost: Maintenance
 * Fix: Consider lateral fluctuation margin correctly.
+* Fix: ad_rss_map_integration don't shorten route too much within intersections
 * Updated ad_map_access to v2.4.5
 * Use target python version for build
 * Fix: Ensure maxSpeedOnAcceleration only limits the actual acceleration while reponse time.