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fix(behavior_path_planner): lane change check default parameters #2575

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merged 1 commit into from
Dec 23, 2022
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fix(behavior_path_planner): lane change check default parameters #2575

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6 changes: 3 additions & 3 deletions planning/behavior_path_planner/src/scene_module/lane_change/util.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -372,10 +372,10 @@ bool isLaneChangePathSafe(
lane_change_parameters.enable_collision_check_at_prepare_phase;
const auto & lane_changing_duration = lane_change_parameters.lane_changing_duration;
const double check_end_time = lane_change_prepare_duration + lane_changing_duration;
constexpr double ego_predicted_path_min_speed{1.0};
const double min_lc_speed{lane_change_parameters.minimum_lane_change_velocity};
const auto vehicle_predicted_path = util::convertToPredictedPath(
path, current_twist, current_pose, static_cast<double>(current_seg_idx), check_end_time,
time_resolution, acceleration, ego_predicted_path_min_speed);
time_resolution, acceleration, min_lc_speed);
const auto prepare_phase_ignore_target_speed_thresh =
lane_change_parameters.prepare_phase_ignore_target_speed_thresh;

Expand All @@ -387,7 +387,7 @@ bool isLaneChangePathSafe(
util::filterObjectIndicesByLanelets(*dynamic_objects, target_lanes);

// find objects in current lane
constexpr double check_distance = 100.0;
const double check_distance = common_parameters.forward_path_length;
const auto current_lane_object_indices_lanelet = util::filterObjectIndicesByLanelets(
*dynamic_objects, current_lanes, arc.length, arc.length + check_distance);

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