diff --git a/modules/planning/tasks/dp_poly_path/dp_road_graph.cc b/modules/planning/tasks/dp_poly_path/dp_road_graph.cc index 8b1b2e88adaf88616f2d1e32c63f1ee3847d385d..271032723ee17954787b012a0476df710e6531f9 100644 --- a/modules/planning/tasks/dp_poly_path/dp_road_graph.cc +++ b/modules/planning/tasks/dp_poly_path/dp_road_graph.cc @@ -248,7 +248,7 @@ bool DPRoadGraph::SamplePathWaypoints( double right_width = 0.0; reference_line_.GetLaneWidth(s, &left_width, &right_width); - constexpr double kBoundaryBuff = 0.10; + constexpr double kBoundaryBuff = 0.20; const auto &vehicle_config = common::VehicleConfigHelper::instance()->GetConfig(); const double half_adc_width = vehicle_config.vehicle_param().width() / 2.0; @@ -261,9 +261,8 @@ bool DPRoadGraph::SamplePathWaypoints( } const double sample_l_range = kDefaultUnitL * (config_.sample_points_num_each_level() - 1); - double sample_right_boundary = - std::fmin(-eff_right_width, init_sl_point_.l()); - double sample_left_boundary = std::fmax(eff_left_width, init_sl_point_.l()); + double sample_right_boundary = -eff_right_width; + double sample_left_boundary = eff_left_width; if (reference_line_info_.IsChangeLanePath() && init_sl_point_.l() > eff_left_width) { diff --git a/modules/planning/testdata/garage_test/result_stop_dest_0.pb.txt b/modules/planning/testdata/garage_test/result_stop_dest_0.pb.txt index bb38bb068886fe6c98e9a6291eb5275ed3a82a45..f548b9a41662ba7ff2c92f9c5e6ace4fcc5dd741 100644 --- a/modules/planning/testdata/garage_test/result_stop_dest_0.pb.txt +++ b/modules/planning/testdata/garage_test/result_stop_dest_0.pb.txt @@ -1,7 +1,7 @@ header { module_name: "planning" } -total_path_length: 19.387459703634065 +total_path_length: 19.38793295841338 total_path_time: 7.9999999999999885 is_replan: true gear: GEAR_DRIVE @@ -17,1687 +17,1687 @@ trajectory_point { ddkappa: 0 } v: 4.4250001907348633 - 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