fix(avoidance): ignore objects whose shift length is less than execut…

…ion threshold Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
autowarefoundation · May 8, 2023 · a2abc68 · a2abc68
1 parent de8afd7
commit a2abc68
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diff --git a/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp b/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp
@@ -3314,6 +3314,7 @@ void AvoidanceModule::updateDebugMarker(
   add(createOtherObjectsMarkerArray(data.other_objects, std::string("MovingObject")));
   add(createOtherObjectsMarkerArray(data.other_objects, std::string("OutOfTargetArea")));
   add(createOtherObjectsMarkerArray(data.other_objects, std::string("NotNeedAvoidance")));
+  add(createOtherObjectsMarkerArray(data.other_objects, std::string("LessThanExecutionThreshold")));
 
   add(makeOverhangToRoadShoulderMarkerArray(data.target_objects, "overhang"));
   add(createOverhangFurthestLineStringMarkerArray(

diff --git a/planning/behavior_path_planner/src/utils/avoidance/utils.cpp b/planning/behavior_path_planner/src/utils/avoidance/utils.cpp
@@ -716,6 +716,12 @@ void filterTargetObjects(
         data.other_objects.push_back(o);
         continue;
       }
+
+      if (std::abs(shift_length) < parameters->avoidance_execution_lateral_threshold) {
+        o.reason = "LessThanExecutionThreshold";
+        data.other_objects.push_back(o);
+        continue;
+      }
     }
 
     // force avoidance for stopped vehicle