fix(behavior_path_planner): fix the calculation of prepare length #1479
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Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>
rej55
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…er4#1479) Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>
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…er4#1479) Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>
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…er4#1479) Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>
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Signed-off-by: tomoya.kimura tomoya.kimura@tier4.jp
Description
In the current implementation, lane_change_prepare_length is proportional to current speed. So, when the vehicle is stopped, lane_change_prepare_length is also 0.
As a result, there are cases that lane-change lanes cannot be searched sufficiently and then a lane change candidate route does not appear.
Fixed this issue by setting a minimum distance to lane_change_prepare_length
Before:
https://user-images.githubusercontent.com/59680180/182078036-47d30538-ec96-4b97-b55e-de3348819231.mp4
After:
https://user-images.githubusercontent.com/59680180/182078023-39006b2b-b9c0-481f-9f3a-d92de7ed7a88.mp4
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