Planning: fix a bug with smart lane-change.

ApolloAuto · Sep 17, 2019 · 495a8b0 · 495a8b0
1 parent b357997
commit 495a8b0
Showing 1 changed file with 4 additions and 0 deletions.
diff --git a/modules/planning/tasks/deciders/path_bounds_decider/path_bounds_decider.cc b/modules/planning/tasks/deciders/path_bounds_decider/path_bounds_decider.cc
@@ -1139,10 +1139,14 @@ void PathBoundsDecider::GetBoundaryFromLaneChangeForbiddenZone(
         adc_frenet_l_ > curr_lane_left_width
             ? curr_lane_left_width + GetBufferBetweenADCCenterAndEdge()
             : std::get<1>((*path_bound)[i]);
+    std::get<1>((*path_bound)[i]) = std::fmin(
+        std::get<1>((*path_bound)[i]), adc_frenet_l_ - 0.1);
     std::get<2>((*path_bound)[i]) =
         adc_frenet_l_ < -curr_lane_right_width
             ? -curr_lane_right_width - GetBufferBetweenADCCenterAndEdge()
             : std::get<2>((*path_bound)[i]);
+    std::get<2>((*path_bound)[i]) = std::fmax(
+        std::get<2>((*path_bound)[i]), adc_frenet_l_ + 0.1);
   }
 }