fix

autowarefoundation · Dec 27, 2023 · 28db8ed · 28db8ed
1 parent 1829ee4
commit 28db8ed
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/planning/behavior_path_goal_planner_module/src/util.cpp b/planning/behavior_path_goal_planner_module/src/util.cpp
@@ -217,11 +217,11 @@ bool checkOriginalGoalIsInShoulder(const std::shared_ptr<RouteHandler> & route_h
 double calcLateralDeviationBetweenPaths(
   const PathWithLaneId & reference_path, const PathWithLaneId & target_path)
 {
-  double lateral_deviation = std::numeric_limits<double>::max();
+  double lateral_deviation = 0.0;
   for (const auto & target_point : target_path.points) {
     const size_t nearest_index =
       motion_utils::findNearestIndex(reference_path.points, target_point.point.pose.position);
-    lateral_deviation = std::min(
+    lateral_deviation = std::max(
       lateral_deviation,
       std::abs(tier4_autoware_utils::calcLateralDeviation(
         reference_path.points[nearest_index].point.pose, target_point.point.pose.position)));