From d169c4a85f8393d17c68ae496aaf26fa26ecd890 Mon Sep 17 00:00:00 2001 From: satoshi-ota Date: Sun, 12 Feb 2023 15:07:36 +0900 Subject: [PATCH] fix(avoidance): fix bug in calculation of rss longitudinal margin Signed-off-by: satoshi-ota --- .../src/scene_module/avoidance/avoidance_module.cpp | 2 +- 1 file changed, 1 insertion(+), 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 index 4e9c0edce57b..d7f3470c14d9 100644 --- a/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp @@ -2443,7 +2443,7 @@ 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); }