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fix(lane_change): chattering issue when performing check #2741

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Jan 25, 2023
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fix(lane_change): chattering issue when performing check #2741

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14 changes: 1 addition & 13 deletions planning/behavior_path_planner/src/scene_module/lane_change/util.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -510,20 +510,8 @@ bool isLaneChangePathSafe(
const double check_end_time = lane_change_prepare_duration + lane_changing_safety_check_duration;
const double min_lc_speed{lane_change_parameters.minimum_lane_change_velocity};

const auto get_pose = std::invoke([&]() {
Pose p;
double dist{0.0};
for (size_t i = 1; i < path.points.size(); ++i) {
dist += motion_utils::calcSignedArcLength(path.points, i - 1, i);
if (dist >= common_parameters.backward_path_length) {
return path.points.at(i).point.pose;
}
}
return path.points.front().point.pose;
});

const auto vehicle_predicted_path = util::convertToPredictedPath(
path, current_twist, get_pose, static_cast<double>(current_seg_idx), check_end_time,
path, current_twist, current_pose, static_cast<double>(current_seg_idx), check_end_time,
time_resolution, acceleration, min_lc_speed);
const auto prepare_phase_ignore_target_speed_thresh =
lane_change_parameters.prepare_phase_ignore_target_speed_thresh;
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