From a4342d5b529abbb877ded629daee5a4cd42d9681 Mon Sep 17 00:00:00 2001 From: kosuke55 Date: Fri, 23 Dec 2022 12:17:34 +0900 Subject: [PATCH] fix(behavior_path_planner): pull over emergency stop velocity Signed-off-by: kosuke55 --- .../src/scene_module/pull_over/pull_over_module.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/planning/behavior_path_planner/src/scene_module/pull_over/pull_over_module.cpp b/planning/behavior_path_planner/src/scene_module/pull_over/pull_over_module.cpp index 6544c581d2169..4fac81b012dae 100644 --- a/planning/behavior_path_planner/src/scene_module/pull_over/pull_over_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/pull_over/pull_over_module.cpp @@ -662,7 +662,7 @@ PathWithLaneId PullOverModule::generateEmergencyStopPath() common_parameters.ego_nearest_yaw_threshold); const double distance_to_target = calcSignedArcLength( stop_path.points, current_pose.position, ego_idx, p.pose.position, target_idx); - if (0.0 < distance_to_target) { + if (0.0 < distance_to_target && 0.01 < current_vel) { p.longitudinal_velocity_mps = std::clamp( static_cast( current_vel * (min_stop_distance - distance_to_target) / min_stop_distance),