Merge pull request #1713 from tier4/takagi/bv02901+vel_con-fix

fix(pid_longitudinal_controller): fix overrun distance calculation against goal position
tier4 · Jan 27, 2025 · d46ec36 · d46ec36
2 parents d013ee4 + 7827f57
commit d46ec36
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/control/autoware_pid_longitudinal_controller/src/pid_longitudinal_controller.cpp b/control/autoware_pid_longitudinal_controller/src/pid_longitudinal_controller.cpp
@@ -534,8 +534,8 @@ PidLongitudinalController::ControlData PidLongitudinalController::getControlData
 
   // distance to stopline
   control_data.stop_dist = longitudinal_utils::calcStopDistance(
-    control_data.interpolated_traj.points.at(control_data.nearest_idx).pose,
-    control_data.interpolated_traj, m_ego_nearest_dist_threshold, m_ego_nearest_yaw_threshold);
+    current_pose, control_data.interpolated_traj, m_ego_nearest_dist_threshold,
+    m_ego_nearest_yaw_threshold);
 
   // pitch
   // NOTE: getPitchByTraj() calculates the pitch angle as defined in