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fix(intersection): fix misuse of original path index to interpolated … #988

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fix(intersection): fix misuse of original path index to interpolated … #988

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15 changes: 14 additions & 1 deletion planning/behavior_velocity_intersection_module/src/util.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1324,6 +1324,19 @@ TimeDistanceArray calcIntersectionPassingTime(
dist_sum = 0.0;
double passing_time = time_delay;
time_distance_array.emplace_back(passing_time, dist_sum);

// NOTE: `reference_path` is resampled in `reference_smoothed_path`, so
// `last_intersection_stop_line_candidate_idx` makes no sense
const auto last_intersection_stop_line_candidate_point_orig =
path.points.at(last_intersection_stop_line_candidate_idx).point.pose;
const auto last_intersection_stop_line_candidate_nearest_ind_opt = motion_utils::findNearestIndex(
smoothed_reference_path.points, last_intersection_stop_line_candidate_point_orig, 3.0, M_PI_4);
if (!last_intersection_stop_line_candidate_nearest_ind_opt) {
return time_distance_array;
}
const auto last_intersection_stop_line_candidate_nearest_ind =
last_intersection_stop_line_candidate_nearest_ind_opt.value();

for (size_t i = 1; i < smoothed_reference_path.points.size(); ++i) {
const auto & p1 = smoothed_reference_path.points.at(i - 1);
const auto & p2 = smoothed_reference_path.points.at(i);
Expand All @@ -1335,7 +1348,7 @@ TimeDistanceArray calcIntersectionPassingTime(
const double average_velocity =
(p1.point.longitudinal_velocity_mps + p2.point.longitudinal_velocity_mps) / 2.0;
const double minimum_ego_velocity_division =
(use_upstream_velocity && i > last_intersection_stop_line_candidate_idx)
(use_upstream_velocity && i > last_intersection_stop_line_candidate_nearest_ind)
? minimum_upstream_velocity /* to avoid null division */
: minimum_ego_velocity;
const double passing_velocity =
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