Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

fix(avoidance): fix bug in calculation of rss longitudinal margin #2872

Merged
merged 2 commits into from
Feb 14, 2023
Merged

fix(avoidance): fix bug in calculation of rss longitudinal margin #2872

Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
d169c4a
fix(avoidance): fix bug in calculation of rss longitudinal margin
satoshi-ota Feb 12, 2023
3c30a62
Merge branch 'main' into fix/rss-calculation-bug-avoidance
satoshi-ota Feb 12, 2023
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
2 changes: 1 addition & 1 deletion planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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);
}
Expand Down