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fix(planning_evaluaotr): prevent abnormal value for ttc #11138

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Merged
kosuke55 merged 1 commit into from
Aug 11, 2025
Merged

fix(planning_evaluaotr): prevent abnormal value for ttc #11138

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14 changes: 8 additions & 6 deletions evaluator/autoware_planning_evaluator/src/metrics/obstacle_metrics.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -50,18 +50,20 @@ Accumulator<double> calcTimeToCollision(
const PredictedObjects & obstacles, const Trajectory & traj, const double distance_threshold)
{
Accumulator<double> stat;

if (traj.points.empty()) {
return stat;
}

/** TODO(Maxime CLEMENT):
* this implementation assumes static obstacles and does not work for dynamic obstacles
*/
TrajectoryPoint p0;
if (!traj.points.empty()) {
p0 = traj.points.front();
}

TrajectoryPoint p0 = traj.points.front();
double t = 0.0; // [s] time from start of trajectory
constexpr double MIN_VELOCITY_THRESHOLD = 1e-3;
for (const TrajectoryPoint & p : traj.points) {
const double traj_dist = calc_distance2d(p0, p);
if (p0.longitudinal_velocity_mps != 0) {
if (std::abs(p0.longitudinal_velocity_mps) > MIN_VELOCITY_THRESHOLD) {
const double dt = traj_dist / std::abs(p0.longitudinal_velocity_mps);
t += dt;
for (auto obstacle : obstacles.objects) {
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