feat(goal_planner): exclude goals located laterally in no_parking_are…

…as (autowarefoundation#6095) Signed-off-by: kosuke55 <[email protected]>
Interplai · Jun 3, 2024 · be2190c · be2190c
1 parent 79caa76
commit be2190c
Showing 1 changed file with 4 additions and 2 deletions.
diff --git a/planning/behavior_path_goal_planner_module/src/goal_searcher.cpp b/planning/behavior_path_goal_planner_module/src/goal_searcher.cpp
@@ -170,11 +170,13 @@ GoalCandidates GoalSearcher::search()
         transformVector(vehicle_footprint_, tier4_autoware_utils::pose2transform(search_pose));
 
       if (isInAreas(transformed_vehicle_footprint, getNoParkingAreaPolygons(pull_over_lanes))) {
-        continue;
+        // break here to exclude goals located laterally in no_parking_areas
+        break;
       }
 
       if (isInAreas(transformed_vehicle_footprint, getNoStoppingAreaPolygons(pull_over_lanes))) {
-        continue;
+        // break here to exclude goals located laterally in no_stopping_areas
+        break;
       }
 
       if (LaneDepartureChecker::isOutOfLane(lanes, transformed_vehicle_footprint)) {