jjKeyLite

reeds_shepp_path cost computation bug

1

tag v9.0.0，modules/planning/planning_base/open_space/coarse_trajectory_generator/reeds_shepp_path.cc, line 124&127: cost += cost + traj_gear_switch_penalty_; cost added two times.

**Describe the bug** in file trajectory_evaluator.cpp, line 136: double evaluation_horizon = std::min(FLAGS_speed_lon_decision_horizon, lon_trajectory->Evaluate(0, lon_trajectory->ParamLength())); evaluation_horizon should be the s length of lon_trajectory , not the end s of lon_trajectory, so...

in lattice planner, when generating speed trajectories, it will sample overtake points to static obstacles, which may be unreasonable. Should we prohibit overtake sampling to static obstacles?