update

opentcs-kernel/src/main/java/org/opentcs/kernel/vehicles/DefaultVehicleController.java

@@ -1052,11 +1052,13 @@ public class DefaultVehicleController
         case LENGTH_RESPECTED:
           // Free resources allocated for executed commands, but keep as many as needed for the
           // vehicle's current length.
+          long vehicleLeghtRadius = 3700 / 2;   //车辆长度半径
+          BoundingBox boundingBox = commAdapter.getProcessModel().getBoundingBox().withLength(vehicleLeghtRadius);  //长度有问题
           int freeableResourceSetCount
               = ResourceMath.freeableResourceSetCount(
                   SplitResources.from(allocatedResources, Set.of(currentVehiclePosition))
                       .getResourcesPassed(),
-                  commAdapter.getProcessModel().getBoundingBox().getLength()
+                  boundingBox.getLength()
               );
           for (int i = 0; i < freeableResourceSetCount; i++) {
             Set<TCSResource<?>> oldResources = allocatedResources.poll();