feat(behavior_velocity_planner): update velocity factor initializatio…

…n for run out module (#9352) feat(behavior_velocity_planner): update velocity factor initialization Update the initialization of the velocity factor in the RunOutModule of the behavior_velocity_planner. The velocity factor is now initialized for the RUN_OUT behavior instead of the ROUTE_OBSTACLE behavior. Signed-off-by: Kyoichi Sugahara <[email protected]>
autowarefoundation · Nov 21, 2024 · f070655 · f070655
1 parent dd9c116
commit f070655
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/scene.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/scene.cpp
@@ -50,7 +50,7 @@ RunOutModule::RunOutModule(
   debug_ptr_(debug_ptr),
   state_machine_(std::make_unique<run_out_utils::StateMachine>(planner_param.approaching.state))
 {
-  velocity_factor_.init(PlanningBehavior::ROUTE_OBSTACLE);
+  velocity_factor_.init(PlanningBehavior::RUN_OUT);
 
   if (planner_param.run_out.use_partition_lanelet) {
     const lanelet::LaneletMapConstPtr & ll = planner_data->route_handler_->getLaneletMapPtr();