Merge pull request #1087 from tier4/cp-lane-change-abort-able-to-return

fix(lane_change): check able to return to current lane
tier4 · Jan 11, 2024 · 2ea2390 · 2ea2390
2 parents 89139f3 + 2f233b4
commit 2ea2390
Showing 1 changed file with 5 additions and 0 deletions.
diff --git a/planning/behavior_path_lane_change_module/src/interface.cpp b/planning/behavior_path_lane_change_module/src/interface.cpp
@@ -276,6 +276,11 @@ bool LaneChangeInterface::canTransitFailureState()
     return false;
   }
 
+  if (!module_type_->isAbleToReturnCurrentLane()) {
+    log_debug_throttled("It's is not possible to return to original lane. Continue lane change.");
+    return false;
+  }
+
   const auto found_abort_path = module_type_->calcAbortPath();
   if (!found_abort_path) {
     log_debug_throttled(