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fix(avoidance): fix avoidance path chattering #2012

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Oct 4, 2022
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fix(avoidance): fix avoidance path chattering #2012

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6 changes: 5 additions & 1 deletion planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -42,6 +42,7 @@ namespace behavior_path_planner
{
using motion_utils::calcSignedArcLength;
using motion_utils::findNearestIndex;
using motion_utils::findNearestSegmentIndex;
using tier4_autoware_utils::calcDistance2d;
using tier4_autoware_utils::calcLateralDeviation;
using tier4_planning_msgs::msg::AvoidanceDebugFactor;
Expand Down Expand Up @@ -140,8 +141,11 @@ AvoidancePlanningData AvoidanceModule::calcAvoidancePlanningData(DebugData & deb
// if the resampled path has only 1 point, use original path.
data.reference_path = center_path;
}

const size_t nearest_segment_index =
findNearestSegmentIndex(data.reference_path.points, data.reference_pose.position);
data.ego_closest_path_index =
findNearestIndex(data.reference_path.points, data.reference_pose.position);
std::min(nearest_segment_index + 1, data.reference_path.points.size() - 1);

// arclength from ego pose (used in many functions)
data.arclength_from_ego = util::calcPathArcLengthArray(
Expand Down