fix(static_obstacle_avoidance): ego doesn't keep stopping in unsafe c…

…ondition (autowarefoundation#10242) Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
tier4 · Mar 7, 2025 · f8e0c4b · f8e0c4b
1 parent 53dd65b
commit f8e0c4b
Showing 1 changed file with 2 additions and 2 deletions.
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
@@ -1679,7 +1679,7 @@ void StaticObstacleAvoidanceModule::insertReturnDeadLine(
   const auto min_return_distance =
     helper_->getMinAvoidanceDistance(shift_length) + helper_->getNominalPrepareDistance(0.0);
   const auto to_stop_line = data.to_return_point - min_return_distance - buffer;
-  if (to_stop_line < 0.0) {
+  if (to_stop_line < -1.0 * parameters_->stop_buffer) {
     RCLCPP_WARN(getLogger(), "ego overran return shift dead line. do nothing.");
     return;
   }
@@ -1752,7 +1752,7 @@ void StaticObstacleAvoidanceModule::insertWaitPoint(
     return;
   }
 
-  if (data.to_stop_line < 0.0) {
+  if (data.to_stop_line < -1.0 * parameters_->stop_buffer) {
     RCLCPP_WARN(getLogger(), "ego overran avoidance dead line. do nothing.");
     return;
   }