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fix(behavior_path_planner): pull over emergency stop #2601

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Dec 30, 2022
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fix(behavior_path_planner): pull over emergency stop #2601

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6 changes: 4 additions & 2 deletions planning/behavior_path_planner/src/scene_module/pull_over/pull_over_module.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -653,14 +653,16 @@ PathWithLaneId PullOverModule::generateStopPath()
status_.is_safe ? status_.pull_over_path.start_pose
: (closest_start_pose_ ? closest_start_pose_.value() : *search_start_pose);

// if stop pose is behind current pose, stop as soon as possible
// if stop pose is closer than min_stop_distance, stop as soon as possible
const size_t ego_idx = findEgoIndex(reference_path.points);
const size_t stop_idx = findFirstNearestSegmentIndexWithSoftConstraints(
reference_path.points, stop_pose, common_parameters.ego_nearest_dist_threshold,
common_parameters.ego_nearest_yaw_threshold);
const double ego_to_stop_distance = calcSignedArcLength(
reference_path.points, current_pose.position, ego_idx, stop_pose.position, stop_idx);
if (ego_to_stop_distance < 0.0) {
const double current_vel = planner_data_->self_odometry->twist.twist.linear.x;
const double min_stop_distance = std::pow(current_vel, 2) / parameters_.maximum_deceleration / 2;
if (ego_to_stop_distance < min_stop_distance) {
return generateEmergencyStopPath();
}

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