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fix(crosswalk): stopping besides the stop line (#6015) #1221

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merged 1 commit into from
Apr 3, 2024
Merged

fix(crosswalk): stopping besides the stop line (#6015) #1221

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6 changes: 3 additions & 3 deletions planning/behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -393,7 +393,7 @@ std::optional<StopFactor> CrosswalkModule::checkStopForCrosswalkUsers(
return {};
}

// Check if the ego should stop beyond the stop line.
// Check if the ego should stop at the stop line or the other points.
const bool stop_at_stop_line =
dist_ego_to_stop < nearest_stop_info->second &&
nearest_stop_info->second < dist_ego_to_stop + planner_param_.far_object_threshold;
Expand All @@ -404,9 +404,9 @@ std::optional<StopFactor> CrosswalkModule::checkStopForCrosswalkUsers(
return createStopFactor(*default_stop_pose, stop_factor_points);
}
} else {
// Stop beyond the stop line
const auto stop_pose = calcLongitudinalOffsetPose(
ego_path.points, nearest_stop_info->first, planner_param_.stop_distance_from_object);
ego_path.points, nearest_stop_info->first,
-base_link2front - planner_param_.stop_distance_from_object);
if (stop_pose) {
return createStopFactor(*stop_pose, stop_factor_points);
}
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