src/utils/Config.cpp
double Config::safeLaneChangeFrontDistance(const double relativeSpeed) {
  if (relativeSpeed < 0) {
    return minSafeDistance;
  }

  // just an estimate with considering acceleration
  return std::min(maxLaneChangeDistance, std::max(minLaneChangeFrontDistance, relativeSpeed * minLaneChangeTime));
}
/**
 * Distance that we can change lane safely in 5 seconds 
 */
Distance that we can change lane safely in 5 seconds
Distance that we can change lane safely in 5 seconds
double Config::safeLaneChangeFrontDistance(const double relativeSpeed) {
  if (relativeSpeed < 0) {
    return minSafeDistance;
  }
  return std::min(maxLaneChangeDistance, std::max(minLaneChangeFrontDistance, relativeSpeed * minLaneChangeTime));
}
double Config :: safeLaneChangeFrontDistance ( const double relativeSpeed ) { if ( relativeSpeed < 0 ) { return minSafeDistance ; } return std :: min ( maxLaneChangeDistance , std :: max ( minLaneChangeFrontDistance , relativeSpeed * minLaneChangeTime ) ) ; }
Distance that we can change lane safely in 5 seconds
Distance that we can change lane safely in 5 seconds
// just an estimate with considering acceleration
