parking_inwards endpoint calculation bug

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Assessment

Difficulty
2/5
Estimated time
1-3 hours
Newbie friendliness
68/100
Issue type
Bug
Clarity
Clearly specified
Activity status
Stale
Tech stack
cpp
Domain
autonomous-driving

Research direction

Open modules/planning/tasks/open_space_roi_decider/open_space_roi_decider.cc around line 264 and inspect the parking_inwards endpoint calculation. Compare the front and back edge offsets used there, then verify that the endpoint calculation uses the appropriate vehicle parameter for inward parking. Done means the reported endpoint behavior is corrected and the relevant planning checks pass.

Written by the indexing model from the issue text.

Description

Module: Planning

Describe the bug

file:
modules/planning/tasks/open_space_roi_decider/open_space_roi_decider.cc

264 row:
if (parking_inwards) {
parking_heading = (left_down - left_top).Angle();
Vec2d middle_top = (left_top + right_top) / 2.0;
end_pt = middle_top + Vec2d::CreateUnitVec2d(parking_heading) *
(vehicle_params_.front_edge_to_center() +
parking_depth_buffer);
}

if parking_inwards is true，The correct endpoint calculation should be

  end_pt = middle_top + Vec2d::CreateUnitVec2d(parking_heading) *
                            (vehicle_params_.back_edge_to_center() +
                             parking_depth_buffer);
Dominant language
C++
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