fix(avoidance): consider avoidance prepare time

Signed-off-by: satoshi-ota <[email protected]>
autowarefoundation · Nov 16, 2023 · d23b8b3 · d23b8b3
1 parent 1273992
commit d23b8b3
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/avoidance/helper.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/avoidance/helper.hpp
@@ -185,7 +185,8 @@ class AvoidanceHelper
       max_shift_length, getLateralMinJerkLimit(), getEgoSpeed());
 
     return std::clamp(
-      1.5 * dynamic_distance, parameters_->object_check_min_forward_distance,
+      1.5 * dynamic_distance + getNominalPrepareDistance(),
+      parameters_->object_check_min_forward_distance,
       parameters_->object_check_max_forward_distance);
   }