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fix(avoidance): fix invalid road bound distance calculation (autoware…
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…foundation#6781)

fix(avoidance): fix invalid road shoulder distance calculation

Signed-off-by: satoshi-ota <[email protected]>
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satoshi-ota committed Apr 11, 2024
1 parent bd987a3 commit 783f6e8
Showing 1 changed file with 1 addition and 2 deletions.
3 changes: 1 addition & 2 deletions planning/behavior_path_avoidance_module/src/utils.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -966,8 +966,7 @@ double getRoadShoulderDistance(
}

{
const auto p2 =
calcOffsetPose(p_tmp, 0.0, (isOnRight(object) ? -100.0 : 100.0), 0.0).position;
const auto p2 = calcOffsetPose(p_tmp, 0.0, (isOnRight(object) ? -1.0 : 1.0), 0.0).position;
const auto opt_intersect =
tier4_autoware_utils::intersect(p1.second, p2, bound.at(i - 1), bound.at(i));

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