Added a check for the value of lane_change_velocity_.

takanotaiga · takanotaiga · commit fcaa48d36cb8 · 2025-05-23T11:13:40.000+09:00
diff --git a/simulation/behavior_tree_plugin/src/vehicle/lane_change_action.cpp b/simulation/behavior_tree_plugin/src/vehicle/lane_change_action.cpp
@@ -171,6 +171,9 @@ BT::NodeStatus LaneChangeAction::tick()
             lane_change_velocity_ = curve_->getLength() / lane_change_parameters_->constraint.value;
             break;
         }
+        if (target_speed_) {
+          lane_change_velocity_ = std::clamp(lane_change_velocity_, 0.0, target_speed_.value());
+        }
       } else {
         return BT::NodeStatus::FAILURE;
       }

Original file line number	Diff line number	Diff line change
`@@ -171,6 +171,9 @@ BT::NodeStatus LaneChangeAction::tick()`
`171`	`171`	`lane_change_velocity_ = curve_->getLength() / lane_change_parameters_->constraint.value;`
`172`	`172`	`break;`
`173`	`173`	`}`
	`174`	`+ if (target_speed_) {`
	`175`	`+ lane_change_velocity_ = std::clamp(lane_change_velocity_, 0.0, target_speed_.value());`
	`176`	`+ }`
`174`	`177`	`} else {`
`175`	`178`	`return BT::NodeStatus::FAILURE;`
`176`	`179`	`}`