fix(lane_change): fix terminal path not working in some case

Signed-off-by: Zulfaqar Azmi <[email protected]>
zulfaqar-azmi-t4 · Apr 1, 2024 · 28c3c34 · 28c3c34
1 parent b5c29fc
commit 28c3c34
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/planning/behavior_path_lane_change_module/src/utils/utils.cpp b/planning/behavior_path_lane_change_module/src/utils/utils.cpp
@@ -435,7 +435,8 @@ PathWithLaneId getReferencePathFromTargetLane(
       .get_child("getReferencePathFromTargetLane"),
     "start: %f, end: %f", s_start, s_end);
 
-  if (s_end - s_start < lane_changing_length) {
+  constexpr double epsilon = 1e-4;
+  if (s_end - s_start + epsilon < lane_changing_length) {
     return PathWithLaneId();
   }