Confusing implementation of op planner
Hi Autoware team, I was trying to understand the implementation of op planner. I think some implementation is confusing and I am wondering whether I can get some help here.
I was trying to understand how autoware will update the velocity at the FOLLOW state. The code is located at (common/op_planner/src/DecisionMaker.cpp, line 379 (Autoware.AI 1.14)). In my understanding, we should pick a desired velocity that can avoid the collision.
I am confused about the variable inv_time here. What is the semantic meaning of inv_time and why it is calculated from the difference between a distance variable and a speed variable? Here is the detailed code:
double inv_time = 2.0*((beh.followDistance- (critical_long_front_distance+m_params.additionalBrakingDistance))-CurrStatus.speed);
Software: Autoware.AI (common repo)
Version: 1.14
Link to the code: https://github.com/Autoware-AI/common...
Thanks a lot!