From 6d9633e2292cec4415db8a3c6617f36c588218d6 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Tue, 3 Sep 2024 15:24:47 +0900 Subject: [PATCH] fix(static_obstacle_avoidance): use wrong parameter (#8720) (#1502) Signed-off-by: satoshi-ota --- .../behavior_path_static_obstacle_avoidance_module/helper.hpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/helper.hpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/helper.hpp index bfeb942c82be3..0f3536eeb4e7c 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/helper.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_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