fix(static_obstacle_avoidance): remove velocity factor (#1740)

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
tier4 · Jan 15, 2025 · f0d60e1 · f0d60e1
1 parent 8b4624c
commit f0d60e1
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diff --git a/...voidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/scene.hpp b/...voidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/scene.hpp
@@ -132,9 +132,6 @@ class StaticObstacleAvoidanceModule : public SceneModuleInterface
       }
 
       if (finish_distance > -1.0e-03) {
-        steering_factor_interface_.set(
-          {left_shift.start_pose, left_shift.finish_pose}, {start_distance, finish_distance},
-          SteeringFactor::LEFT, SteeringFactor::TURNING, "");
         planning_factor_interface_->add(
           start_distance, finish_distance, left_shift.start_pose, left_shift.finish_pose,
           PlanningFactor::SHIFT_LEFT, SafetyFactorArray{});
@@ -155,9 +152,6 @@ class StaticObstacleAvoidanceModule : public SceneModuleInterface
       }
 
       if (finish_distance > -1.0e-03) {
-        steering_factor_interface_.set(
-          {right_shift.start_pose, right_shift.finish_pose}, {start_distance, finish_distance},
-          SteeringFactor::RIGHT, SteeringFactor::TURNING, "");
         planning_factor_interface_->add(
           start_distance, finish_distance, right_shift.start_pose, right_shift.finish_pose,
           PlanningFactor::SHIFT_RIGHT, SafetyFactorArray{});

diff --git a/...havior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp b/...havior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp
@@ -86,8 +86,6 @@ StaticObstacleAvoidanceModule::StaticObstacleAvoidanceModule(
   parameters_{parameters},
   generator_{parameters}
 {
-  steering_factor_interface_.init(PlanningBehavior::AVOIDANCE);
-  velocity_factor_interface_.init(PlanningBehavior::AVOIDANCE);
 }
 
 bool StaticObstacleAvoidanceModule::isExecutionRequested() const
@@ -778,8 +776,6 @@ void StaticObstacleAvoidanceModule::updateEgoBehavior(
   insertReturnDeadLine(isBestEffort(parameters_->policy_deceleration), path);
 
   set_longitudinal_planning_factor(path.path);
-
-  setVelocityFactor(path.path);
 }
 
 bool StaticObstacleAvoidanceModule::isSafePath(
@@ -1212,14 +1208,6 @@ CandidateOutput StaticObstacleAvoidanceModule::planCandidate() const
   output.start_distance_to_path_change = sl_front.start_longitudinal;
   output.finish_distance_to_path_change = sl_back.end_longitudinal;
 
-  const uint16_t steering_factor_direction = std::invoke([&output]() {
-    return output.lateral_shift > 0.0 ? SteeringFactor::LEFT : SteeringFactor::RIGHT;
-  });
-  steering_factor_interface_.set(
-    {sl_front.start, sl_back.end},
-    {output.start_distance_to_path_change, output.finish_distance_to_path_change},
-    steering_factor_direction, SteeringFactor::APPROACHING, "");
-
   const uint16_t planning_factor_direction = std::invoke([&output]() {
     return output.lateral_shift > 0.0 ? PlanningFactor::SHIFT_LEFT : PlanningFactor::SHIFT_RIGHT;
   });