message: introduced threshold when to switch between left and right rss limits
diff: @@ -184,16 +184,20 @@ void BehaviorRSSConformant::ConvertRestrictions(
  ego_frenet, last_ego_frenet);
  }
  AccelerationLimits acc_lim_vehicle_cs, acc_lim_street_cs;
  - if (ego_frenet.vlat > 0) {
  - VLOG(4) << "vel_lat_street = " ego_frenet.vlat << " > 0, Using left rss limits";
  + const float rss_vlat_threshold =
  + 0.01; // @TODO parameter if this eps is too sensitive
  + if (ego_frenet.vlat > rss_vlat_threshold) {
  + VLOG(4) << "vel_lat_street = " << ego_frenet.vlat
  + << ", Using left rss limits";
  // use left limits
  acc_lim_vehicle_cs.lat_acc_max = acc_lat_le_max;
  acc_lim_vehicle_cs.lat_acc_min = acc_lat_le_min;
  acc_lim_street_cs.lat_acc_max = rss_rest.lateralLeftRange.maximum;
  acc_lim_street_cs.lat_acc_min = rss_rest.lateralLeftRange.minimum;
  - } else if (ego_frenet.vlat < 0) {
  - VLOG(4) << "vel_lat_street = " ego_frenet.vlat << " < 0, Using right rss limits";
  + } else if (ego_frenet.vlat < -rss_vlat_threshold) {
  + VLOG(4) << "vel_lat_street = " << ego_frenet.vlat
  + << ", Using right rss limits";
  // use right limits
  acc_lim_vehicle_cs.lat_acc_max = acc_lat_ri_max;
  acc_lim_vehicle_cs.lat_acc_min = acc_lat_ri_min;
  @@ -201,7 +205,8 @@ void BehaviorRSSConformant::ConvertRestrictions(
  acc_lim_street_cs.lat_acc_max = rss_rest.lateralRightRange.maximum;
  acc_lim_street_cs.lat_acc_min = rss_rest.lateralRightRange.minimum;
  } else {
  - VLOG(4) << "vel_lat_street = 0, Using both rss limits";
  + VLOG(4) << "vel_lat_street = " << ego_frenet.vlat << ", |vel_lat_street| < "
  + << rss_vlat_threshold << " , Using both rss limits";
  // use both limits
  acc_lim_vehicle_cs.lat_acc_max = std::min(acc_lat_le_max, acc_lat_ri_max);
  acc_lim_vehicle_cs.lat_acc_min = std::max(acc_lat_le_min, acc_lat_ri_min);
  