fix(behavior_path_planner): consider length for unavoidable objects a…

…round the goal (autowarefoundation#2617) (autowarefoundation#237) Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
shmpwk · Jan 8, 2023 · 669c493 · 669c493
1 parent 8590737
commit 669c493
Showing 1 changed file with 3 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
@@ -286,7 +286,9 @@ void AvoidanceModule::fillAvoidanceTargetObjects(
       continue;
     }
 
-    if (object_data.longitudinal + parameters_->object_check_goal_distance > dist_to_goal) {
+    if (
+      object_data.longitudinal + object_data.length / 2 + parameters_->object_check_goal_distance >
+      dist_to_goal) {
       avoidance_debug_array_false_and_push_back("TooNearToGoal");
       data.other_objects.push_back(object_data);
       continue;