Fix corridor-only collision index delaying braking to path end - #30
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Fix corridor-only collision index delaying braking to path end#30cursor[bot] wants to merge 1 commit into
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_find_collision_index now uses centerline distance within ego half-width plus safety margin, matching the buffered corridor check, so side obstacles trigger braking at the mid-path hit instead of n-1. Co-authored-by: Majid Khonji <majid-khonji@users.noreply.github.com>
This was referenced Aug 5, 2026
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Bug
check_collisiondetects side obstacles via a buffered ego corridor (half-width + safety margin), but_find_collision_indexsearched with a bare centerlineLineString.intersects. When only the buffer hits, the search fell back ton-1.Impact
An agent beside the path inside the corridor (common parked/lateral case) was reported as a collision at path end. Velocity profiling and lattice urgent-switch then treated the threat as ~track-length away, so the ego kept cruise speed through the real obstacle.
Trigger
Straight path, ego width 2 m, margin 0.3 m, static agent at
(30, 1.5)with width 2 m: corridor intersects, centerline does not → old idx30, fixed idx~8.Fix
Binary search now uses
partial_line.distance(obstacle) <= radius, matching corridor detection. Minimal change; no planner API churn.Validation
pytest test/c50_common/test_c55_collision_checking.py test/c20_planning/test_c27_local_behavioral_and_velocity_planners.py— 23 passed