fix(avoidance): fix target search area width calculation (autowarefou…

…ndation#4671) Signed-off-by: satoshi-ota <[email protected]>
leo-drive · Aug 21, 2023 · 73b2877 · 73b2877
1 parent 93b00e4
commit 73b2877
Showing 1 changed file with 2 additions and 1 deletion.
diff --git 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<PredictedObjects, PredictedObjects> 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);
   }