manual cherry-pick of autowarefoundation#6368

yuki-takagi-66 · yuki-takagi-66 · commit c27865d54206 · 2024-02-19T18:46:34.000+09:00
Signed-off-by: Yuki Takagi &lt;yuki.takagi@tier4.jp&gt;
diff --git a/planning/behavior_path_dynamic_avoidance_module/src/scene.cpp b/planning/behavior_path_dynamic_avoidance_module/src/scene.cpp
@@ -1067,7 +1067,7 @@ MinMaxValue DynamicAvoidanceModule::calcMinMaxLongitudinalOffsetToAvoid(
   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.
-      return std::min(time_while_collision.time_to_start_collision, 8.0) * std::abs(obj_vel) +
+      return std::min(time_while_collision.time_to_start_collision, 3.5) * std::abs(obj_vel) +
              std::abs(relative_velocity) * parameters_->start_duration_to_avoid_oncoming_object;
     }
     // The ego and object are the opposite directional.

Original file line number	Diff line number	Diff line change
`@@ -1067,7 +1067,7 @@ MinMaxValue DynamicAvoidanceModule::calcMinMaxLongitudinalOffsetToAvoid(`
`1067`	`1067`	`const double start_length_to_avoid = [&]() {`
`1068`	`1068`	`if (obj_vel < parameters_->max_stopped_object_vel) {`
`1069`	`1069`	`// The ego and object are the same directional or the object is parked.`
`1070`		`- return std::min(time_while_collision.time_to_start_collision, 8.0) * std::abs(obj_vel) +`
	`1070`	`+ return std::min(time_while_collision.time_to_start_collision, 3.5) * std::abs(obj_vel) +`
`1071`	`1071`	`std::abs(relative_velocity) * parameters_->start_duration_to_avoid_oncoming_object;`
`1072`	`1072`	`}`
`1073`	`1073`	`// The ego and object are the opposite directional.`