fix(avoidance): fix bug in calculation of rss longitudinal margin (au…

…towarefoundation#2872) Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
1222-takeshi · Mar 6, 2023 · a3c89d1 · a3c89d1
1 parent 99bd1ff
commit a3c89d1
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp b/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp
@@ -2458,7 +2458,7 @@ double AvoidanceModule::getRSSLongitudinalDistance(
    * =======================================
    */
   if (!is_front_object && !opposite_lane_vehicle) {
-    return v_obj * idling_time + 0.5 * accel_for_rss * std::pow(v_obj, 2.0) +
+    return v_obj * idling_time + 0.5 * accel_for_rss * std::pow(idling_time, 2.0) +
            std::pow(v_obj + accel_for_rss * idling_time, 2.0) / (2.0 * accel_for_rss) -
            std::pow(v_ego, 2.0) / (2.0 * accel_for_rss);
   }