From 7772f3f40ac381cbd8a7d0bf4ea1b0f32f1b006c Mon Sep 17 00:00:00 2001 From: satoshi-ota Date: Sat, 19 Aug 2023 19:16:52 +0900 Subject: [PATCH] fix(avoidance): fix target search area width calculation Signed-off-by: satoshi-ota --- planning/behavior_path_planner/src/utils/avoidance/utils.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/planning/behavior_path_planner/src/utils/avoidance/utils.cpp b/planning/behavior_path_planner/src/utils/avoidance/utils.cpp index 3f47b97aa0adf..e6b946a130682 100644 --- a/planning/behavior_path_planner/src/utils/avoidance/utils.cpp +++ b/planning/behavior_path_planner/src/utils/avoidance/utils.cpp @@ -1622,7 +1622,8 @@ std::pair separateObjectsByPath( double max_offset = 0.0; for (const auto & object_parameter : parameters->object_parameters) { const auto p = object_parameter.second; - const auto offset = p.envelope_buffer_margin + p.safety_buffer_lateral + p.avoid_margin_lateral; + const auto offset = + 2.0 * p.envelope_buffer_margin + p.safety_buffer_lateral + p.avoid_margin_lateral; max_offset = std::max(max_offset, offset); }