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manual cherry-pick of autowarefoundation#6368
Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp>
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  • planning/behavior_path_dynamic_avoidance_module/src

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planning/behavior_path_dynamic_avoidance_module/src/scene.cpp

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

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