fix(avoidance): check safety for only moving objects

Signed-off-by: satoshi-ota <[email protected]>
autowarefoundation · Feb 1, 2024 · 0cedbfc · 0cedbfc
1 parent 18a599e
commit 0cedbfc
Showing 1 changed file with 4 additions and 1 deletion.
diff --git a/planning/behavior_path_avoidance_module/src/utils.cpp b/planning/behavior_path_avoidance_module/src/utils.cpp
@@ -1846,7 +1846,10 @@ std::vector<ExtendedPredictedObject> getSafetyCheckTargetObjects(
     PredictedObjects ret{};
     std::for_each(objects.begin(), objects.end(), [&p, &ret, &parameters](const auto & object) {
       if (filtering_utils::isSafetyCheckTargetObjectType(object.object, parameters)) {
-        ret.objects.push_back(object.object);
+        // check only moving objects
+        if (filtering_utils::isMovingObject(object, parameters)) {
+          ret.objects.push_back(object.object);
+        }
       }
     });
     return ret;