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fix(avoidance): fix avoidance return dead point calculation logic for high curverture path #5489

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Nov 7, 2023
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fix(avoidance): fix avoidance return dead point calculation logic for high curverture path #5489

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9 changes: 8 additions & 1 deletion planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp
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Original file line number Diff line number Diff line change
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// Copyright 2021 Tier IV, Inc.

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The lines of code increases from 2190 to 2194, improve code health by reducing it to 1000. The number of Lines of Code in a single file. More Lines of Code lowers the code health.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
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return;
}

// Consider the difference in path length between the shifted path and original path (the path
// that is shifted inward has a shorter distance to the end of the path than the other one.)
const auto & to_reference_path_end = data.arclength_from_ego.back();
const auto to_shifted_path_end = calcSignedArcLength(
shifted_path.path.points, getEgoPosition(), shifted_path.path.points.size() - 1);

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planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp#L2908-L2909 

Added lines #L2908 - L2909 were not covered by tests
const auto buffer = std::max(0.0, to_shifted_path_end - to_reference_path_end);

const auto min_return_distance = helper_.getMinAvoidanceDistance(shift_length);
const auto to_stop_line = data.to_return_point - min_return_distance;
const auto to_stop_line = data.to_return_point - min_return_distance - buffer;

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planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp#L2913 

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// If we don't need to consider deceleration constraints, insert a deceleration point
// and return immediately
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