From 8ae14aab173c570947b1caa5fa96d840991dbd23 Mon Sep 17 00:00:00 2001
From: Takayuki Murooka <takayuki5168@gmail.com>
Date: Fri, 7 Feb 2025 13:50:01 +0900
Subject: [PATCH] fix(motion_velocity_planner_common): fix the
 calc_possible_min_dist_from_obj_to_traj_poly calculation (#10059)

* fix(motion_velocity_planner_common): fix the calc_possible_min_dist_from_obj_to_traj_poly calculation

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

* update maintainer

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

---------

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
---
 .../package.xml                                                 | 2 ++
 .../src/utils.cpp                                               | 2 +-
 2 files changed, 3 insertions(+), 1 deletion(-)

diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_common_universe/package.xml b/planning/motion_velocity_planner/autoware_motion_velocity_planner_common_universe/package.xml
index 8c33cfc862271..214e69f4122a2 100644
--- a/planning/motion_velocity_planner/autoware_motion_velocity_planner_common_universe/package.xml
+++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_common_universe/package.xml
@@ -7,6 +7,8 @@
 
   <maintainer email="maxime.clement@tier4.jp">Maxime Clement</maintainer>
   <maintainer email="alqudah.mohammad@tier4.jp">Alqudah Mohammad</maintainer>
+  <maintainer email="takayuki.murooka@tier4.jp">Takayuki Murooka</maintainer>
+  <maintainer email="yuki.takagi@tier4.jp">Yuki Takagi</maintainer>
 
   <license>Apache License 2.0</license>
 
diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_common_universe/src/utils.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_planner_common_universe/src/utils.cpp
index de86f64fa7965..cf1e888116616 100644
--- a/planning/motion_velocity_planner/autoware_motion_velocity_planner_common_universe/src/utils.cpp
+++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_common_universe/src/utils.cpp
@@ -169,7 +169,7 @@ double calc_possible_min_dist_from_obj_to_traj_poly(
   const double object_possible_max_dist =
     calc_object_possible_max_dist_from_center(object->predicted_object.shape);
   const double possible_min_dist_to_traj_poly =
-    std::abs(object->get_dist_to_traj_lateral(traj_points)) - vehicle_info.vehicle_width_m -
+    std::abs(object->get_dist_to_traj_lateral(traj_points)) - vehicle_info.vehicle_width_m / 2.0 -
     object_possible_max_dist;
   return possible_min_dist_to_traj_poly;
 }