From 040653fcee990dab8c69b10ebf1d5d6650ef3a99 Mon Sep 17 00:00:00 2001
From: satoshi-ota <satoshi.ota928@gmail.com>
Date: Thu, 7 Mar 2024 17:05:27 +0900
Subject: [PATCH] fix(avoidance): return previous module turn signal if it's in
 success state

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
---
 planning/behavior_path_avoidance_module/src/scene.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/planning/behavior_path_avoidance_module/src/scene.cpp b/planning/behavior_path_avoidance_module/src/scene.cpp
index 7d941bfa40b3a..d884c22e71c44 100644
--- a/planning/behavior_path_avoidance_module/src/scene.cpp
+++ b/planning/behavior_path_avoidance_module/src/scene.cpp
@@ -870,7 +870,7 @@ BehaviorModuleOutput AvoidanceModule::plan()
   updatePathShifter(data.safe_shift_line);
 
   if (data.success) {
-    removeRegisteredShiftLines();
+    return getPreviousModuleOutput();
   }
 
   if (data.yield_required) {