fix after PR review

Signed-off-by: Maxime CLEMENT <[email protected]>

planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/README.md

@@ -91,7 +91,9 @@ Whether it is decided to slow down or stop is determined by the distance between
 If this distance is bellow the `actions.slowdown.threshold`, a velocity of `actions.slowdown.velocity` will be used.
 If the distance is bellow the `actions.stop.threshold`, a velocity of `0`m/s will be used.
 
-In addition, if parameter `action.use_map_stop_lines` is set to `true`, then the stop point may be moved to a stop line preceding the stop point where ego can confortably stop. Stop lines are defined in the vector map and must be attached to one of the lanelet followed by the ego trajectory.
+In addition, if parameter `action.use_map_stop_lines` is set to `true`,
+then the stop point may be moved to the earliest stop line preceding the stop point where ego can confortably stop.
+Stop lines are defined in the vector map and must be attached to one of the lanelet followed by the ego trajectory.
 
 ![avoid_collision](./docs/ttcs_avoid.png)
 

planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/calculate_slowdown_points.cpp

@@ -87,7 +87,7 @@ std::optional<geometry_msgs::msg::Pose> calculate_pose_ahead_of_collision(
 std::optional<geometry_msgs::msg::Pose> calculate_last_in_lane_pose(
   const EgoData & ego_data, const OutOfLanePoint & point_to_avoid, PlannerParam params)
 {
-  std::optional<geometry_msgs::msg::Pose> slowdown_pose;
+  std::optional<geometry_msgs::msg::Pose> last_in_lane_pose;
 
   const auto outside_idx = point_to_avoid.trajectory_index;
   const auto outside_arc_length =
@@ -108,20 +108,20 @@ std::optional<geometry_msgs::msg::Pose> calculate_last_in_lane_pose(
   // then we use the base footprint (with distance buffers)
   // finally, we use the raw footprint
   for (const auto & ego_footprint : {expanded_footprint, base_footprint, raw_footprint}) {
-    slowdown_pose = calculate_last_avoiding_pose(
+    last_in_lane_pose = calculate_last_avoiding_pose(
       ego_data.trajectory_points, ego_footprint, polygons_to_avoid, ego_data.min_stop_arc_length,
       outside_arc_length, params.precision);
-    if (slowdown_pose) {
+    if (last_in_lane_pose) {
       break;
     }
   }
   // fallback to simply stopping ahead of the collision to avoid (regardless of being out of lane or
   // not)
-  if (!slowdown_pose) {
-    slowdown_pose = calculate_pose_ahead_of_collision(
+  if (!last_in_lane_pose) {
+    last_in_lane_pose = calculate_pose_ahead_of_collision(
       ego_data, point_to_avoid, expanded_footprint, params.precision);
   }
-  return slowdown_pose;
+  return last_in_lane_pose;
 }
 
 std::optional<geometry_msgs::msg::Pose> calculate_slowdown_pose(

planning/motion_velocity_planner/autoware_motion_velocity_planner_common_universe/include/autoware/motion_velocity_planner_common_universe/planner_data.hpp

@@ -149,7 +149,7 @@ struct PlannerData
   autoware::vehicle_info_utils::VehicleInfo vehicle_info_;
 
   /// @brief queries the traffic signal information of given Id. if keep_last_observation = true,
-  /// @details recent UNKNOWN observation is overwritten as the last non-UNKNOWN observation
+  /// recent UNKNOWN observation is overwritten as the last non-UNKNOWN observation
   [[nodiscard]] std::optional<TrafficSignalStamped> get_traffic_signal(
     const lanelet::Id id, const bool keep_last_observation = false) const;