fix(motion_velocity_planner_common): fix the calc_possible_min_dist_f…

…rom_obj_to_traj_poly calculation Signed-off-by: Takayuki Murooka <[email protected]>
autowarefoundation · Jan 31, 2025 · bb01605 · bb01605
1 parent 2c53d5f
commit bb01605
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/...ng/motion_velocity_planner/autoware_motion_velocity_planner_common_universe/src/utils.cpp b/...ng/motion_velocity_planner/autoware_motion_velocity_planner_common_universe/src/utils.cpp
@@ -169,7 +169,7 @@ double calc_possible_min_dist_from_obj_to_traj_poly(
   const double object_possible_max_dist =
     calc_object_possible_max_dist_from_center(object->predicted_object.shape);
   const double possible_min_dist_to_traj_poly =
-    std::abs(object->get_dist_to_traj_lateral(traj_points)) - vehicle_info.vehicle_width_m -
+    std::abs(object->get_dist_to_traj_lateral(traj_points)) - vehicle_info.vehicle_width_m / 2.0 -
     object_possible_max_dist;
   return possible_min_dist_to_traj_poly;
 }