Fix map-integration intersection scene

Fix: ad_rss_map_integration don't shorten route too much within intersections when incoming route starts at intersection entry while vehicle already entered. * Update map to v2.4.5_hotfix
intel · Aug 31, 2021 · b713d7c · b713d7c
1 parent d937f16
commit b713d7c
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Showing 4 changed files with 5 additions and 3 deletions.
diff --git a/ad_rss_map_integration/impl/src/RssSceneCreation.cpp b/ad_rss_map_integration/impl/src/RssSceneCreation.cpp
@@ -157,7 +157,8 @@ bool RssSceneCreation::appendStructuredScenes(::ad::rss::map::RssSceneCreator &s
     {
       // for the analysis we are only interested in the near term route
       auto shortenedRoute = egoRouteInput;
-      ::ad::map::route::shortenRouteToDistance(shortenedRoute, predictionLength);
+      ::ad::map::route::shortenRouteToDistance(shortenedRoute,
+                                               std::max(predictionLength, ::ad::physics::Distance(100.)));
       egoPredictedRoutes.push_back(shortenedRoute);
     }
 

diff --git a/ad_rss_map_integration/python/tests/interface_test.py b/ad_rss_map_integration/python/tests/interface_test.py
@@ -189,7 +189,7 @@ def test_interface(self):
         longitudinal_distance = rss_situation_snapshot.situations[0].relativePosition.longitudinalDistance
 
         self.assertTrue(rss_proper_response.isSafe)
-        self.assertEqual(longitudinal_distance, ad.physics.Distance(104.411))
+        self.assertEqual(longitudinal_distance, ad.physics.Distance(104.415))
 
         self.world_model.timeIndex += 1
 

diff --git a/dependencies/map b/dependencies/map
diff --git a/doc/CHANGELOG.md b/doc/CHANGELOG.md
@@ -4,6 +4,7 @@
 
 #### :ghost: Maintenance
 * Fix: Consider lateral fluctuation margin correctly.
+* Fix: ad_rss_map_integration don't shorten route too much within intersections
 * Updated ad_map_access to v2.4.5
 * Use target python version for build
 * Fix: Ensure maxSpeedOnAcceleration only limits the actual acceleration while reponse time.