From c27865d542064894eca489460c99a9bc90267efb Mon Sep 17 00:00:00 2001 From: Yuki Takagi Date: Mon, 19 Feb 2024 18:46:34 +0900 Subject: [PATCH] manual cherry-pick of #6368 Signed-off-by: Yuki Takagi --- planning/behavior_path_dynamic_avoidance_module/src/scene.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/planning/behavior_path_dynamic_avoidance_module/src/scene.cpp b/planning/behavior_path_dynamic_avoidance_module/src/scene.cpp index 73cabd00592a8..5346aa7214162 100644 --- a/planning/behavior_path_dynamic_avoidance_module/src/scene.cpp +++ b/planning/behavior_path_dynamic_avoidance_module/src/scene.cpp @@ -1067,7 +1067,7 @@ MinMaxValue DynamicAvoidanceModule::calcMinMaxLongitudinalOffsetToAvoid( const double start_length_to_avoid = [&]() { if (obj_vel < parameters_->max_stopped_object_vel) { // The ego and object are the same directional or the object is parked. - return std::min(time_while_collision.time_to_start_collision, 8.0) * std::abs(obj_vel) + + return std::min(time_while_collision.time_to_start_collision, 3.5) * std::abs(obj_vel) + std::abs(relative_velocity) * parameters_->start_duration_to_avoid_oncoming_object; } // The ego and object are the opposite directional.