feat(behavior_path_planner): fix minimum prepare speed #3231
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Signed-off-by: yutaka <[email protected]>
purewater0901
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Signed-off-by: yutaka <[email protected]>
Signed-off-by: yutaka <[email protected]>
Codecov ReportPatch coverage has no change and project coverage change:
Additional details and impacted files@@ Coverage Diff @@
## main #3231 +/- ##
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- Coverage 12.33% 12.33% -0.01%
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Files 1363 1363
Lines 94810 94812 +2
Branches 27000 27000
==========================================
Hits 11697 11697
- Misses 70763 70765 +2
Partials 12350 12350
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Signed-off-by: yutaka <[email protected]>
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Apr 7, 2023
…ation#3231) * feat(behavior_path_planner): fix minimum prepare speed Signed-off-by: yutaka <[email protected]> * update Signed-off-by: yutaka <[email protected]> * update Signed-off-by: yutaka <[email protected]> * fix(control_launch): add necessary parameter Signed-off-by: yutaka <[email protected]> * update Signed-off-by: yutaka <[email protected]> --------- Signed-off-by: yutaka <[email protected]>
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Description
Since the current code does not consider the maximum acceleration values correctly, I recalculated the maximum deceleration values using the minimum lane changing speed and current speed. Moreover, I fixed the prepared distance by adding the minimum velocity of the lane changing speed.
Scenario Test 1198/1199
Tier4 Internal Link
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