fix(avoidance): fix avoidance path chattering (autowarefoundation#2012)

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
satoshi-ota · Oct 4, 2022 · 0997af7 · 0997af7
1 parent 46008c3
commit 0997af7
Showing 1 changed file with 4 additions and 1 deletion.
diff --git a/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp b/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp
@@ -139,8 +139,11 @@ 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(