From 4d324b6ce16a2f2e7bca7c52837005b0c49ab7f3 Mon Sep 17 00:00:00 2001
From: JasonZhou404 <zhoujiny404@gmail.com>
Date: Wed, 18 Dec 2019 15:33:13 -0800
Subject: [PATCH] fix the difference following gap keeping in dp st and speed
 opt

---
 .../planning/tasks/deciders/speed_decider/speed_decider.cc  | 2 +-
 .../tasks/optimizers/path_time_heuristic/dp_st_cost.cc      | 6 +-----
 2 files changed, 2 insertions(+), 6 deletions(-)

diff --git a/modules/planning/tasks/deciders/speed_decider/speed_decider.cc b/modules/planning/tasks/deciders/speed_decider/speed_decider.cc
index cc3edfe5cce..071e73f4f6c 100644
--- a/modules/planning/tasks/deciders/speed_decider/speed_decider.cc
+++ b/modules/planning/tasks/deciders/speed_decider/speed_decider.cc
@@ -185,7 +185,7 @@ bool SpeedDecider::IsFollowTooClose(const Obstacle& obstacle) const {
   }
   const double distance =
       obstacle.path_st_boundary().min_s() - FLAGS_min_stop_distance_obstacle;
-  static constexpr double lane_follow_max_decel = 1.0;
+  static constexpr double lane_follow_max_decel = 3.0;
   static constexpr double lane_change_max_decel = 3.0;
   auto* planning_status = PlanningContext::Instance()
                               ->mutable_planning_status()
diff --git a/modules/planning/tasks/optimizers/path_time_heuristic/dp_st_cost.cc b/modules/planning/tasks/optimizers/path_time_heuristic/dp_st_cost.cc
index fec80fe0441..0cc5b586458 100644
--- a/modules/planning/tasks/optimizers/path_time_heuristic/dp_st_cost.cc
+++ b/modules/planning/tasks/optimizers/path_time_heuristic/dp_st_cost.cc
@@ -128,7 +128,6 @@ double DpStCost::GetObstacleCost(const StGraphPoint& st_graph_point) {
     if (s > upper_bound || s < lower_bound) {
       return kInf;
     }
-    return cost * unit_t_;
   }
 
   for (const auto* obstacle : obstacles_) {
@@ -161,10 +160,7 @@ double DpStCost::GetObstacleCost(const StGraphPoint& st_graph_point) {
       s_lower = boundary_cost_[boundary_index][st_graph_point.index_t()].second;
     }
     if (s < s_lower) {
-      const double follow_distance_s =
-          config_.is_lane_changing()
-              ? config_.safe_distance()
-              : StGapEstimator::EstimateSafeFollowingGap(obstacle->speed());
+      const double follow_distance_s = config_.safe_distance();
       if (s + follow_distance_s < s_lower) {
         continue;
       } else {