Merge pull request #1501 from tier4/hotfix/v0.29.0/cherry-pick-avoidance

fix(static_obstacle_avoidance): use wrong parameter (autowarefoundation#8720)
tier4 · Sep 3, 2024 · 44fb380 · 44fb380
2 parents c9e78d6 + 9b7759f
commit 44fb380
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/...oidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/helper.hpp b/...oidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/helper.hpp
@@ -305,7 +305,7 @@ class AvoidanceHelper
   {
     const auto & p = parameters_;
     return prepare_distance >
-           std::max(getEgoSpeed() * p->min_prepare_distance, p->min_prepare_distance);
+           std::max(getEgoSpeed() * p->min_prepare_time, p->min_prepare_distance);
   }
 
   bool isComfortable(const AvoidLineArray & shift_lines) const