planning: side pass changed nudge buffer size for case 10185. (#2158)

modules/planning/conf/scenario_side_pass_config.pb.txt

@@ -12,6 +12,7 @@ side_pass_config: {
   block_obstacle_min_speed: 0.1
   enable_obstacle_blocked_check: true
   max_backup_stage_cycle_num: 30
+  min_l_nudge_buffer: 0.5
 }
 stage_config: {
   stage_type: SIDE_PASS_APPROACH_OBSTACLE

modules/planning/proto/planning_config.proto

@@ -75,6 +75,7 @@ message ScenarioSidePassConfig {
   // set to false to work around large vehicle splitting issue in perception
   optional bool enable_obstacle_blocked_check = 5 [default = true];
   optional uint32 max_backup_stage_cycle_num = 6 [default = 30];
+  optional double min_l_nudge_buffer = 7 [default = 0.5];
 }
 
 message ScenarioStopSignUnprotectedConfig {

modules/planning/scenarios/side_pass/side_pass_scenario.cc

@@ -200,14 +200,13 @@ bool SidePassScenario::HasBlockingObstacle(const Frame& frame) {
     }
 
     // check driving_width
-    constexpr double kLBufferThreshold = 0.3;  // unit: m
     const auto& reference_line = reference_line_info.reference_line();
     const double driving_width =
         reference_line.GetDrivingWidth(obstacle->PerceptionSLBoundary());
     const double adc_width =
         VehicleConfigHelper::GetConfig().vehicle_param().width();
     if (driving_width - adc_width - FLAGS_static_decision_nudge_l_buffer >
-        kLBufferThreshold) {
+        side_pass_context_.scenario_config_.min_l_nudge_buffer()) {
       continue;
     }
 

modules/planning/scenarios/side_pass/side_pass_stage.cc

@@ -74,7 +74,6 @@ Stage::StageStatus SidePassBackup::Process(
     }
 
     // check driving_width
-    constexpr double kLBufferThreshold = 0.3;  // unit: m
     const auto& reference_line =
         frame->reference_line_info().front().reference_line();
     const double driving_width =
@@ -82,7 +81,7 @@ Stage::StageStatus SidePassBackup::Process(
     const double adc_width =
         VehicleConfigHelper::GetConfig().vehicle_param().width();
     if (driving_width - adc_width - FLAGS_static_decision_nudge_l_buffer >
-        kLBufferThreshold) {
+        GetContext()->scenario_config_.min_l_nudge_buffer()) {
       continue;
     }
 
@@ -143,7 +142,6 @@ Stage::StageStatus SidePassApproachObstacle::Process(
     }
 
     // check driving_width
-    constexpr double kLBufferThreshold = 0.3;  // unit: m
     const auto& reference_line =
         frame->reference_line_info().front().reference_line();
     const double driving_width =
@@ -151,7 +149,7 @@ Stage::StageStatus SidePassApproachObstacle::Process(
     const double adc_width =
         VehicleConfigHelper::GetConfig().vehicle_param().width();
     if (driving_width - adc_width - FLAGS_static_decision_nudge_l_buffer >
-        kLBufferThreshold) {
+        GetContext()->scenario_config_.min_l_nudge_buffer()) {
       continue;
     }