From 2fda8274dea1733d8354481b2d3346179780934e Mon Sep 17 00:00:00 2001 From: Fumiya Watanabe Date: Tue, 26 Dec 2023 13:12:42 +0900 Subject: [PATCH] feat(behavior_path_planner): add steering factor status for lane change abort Signed-off-by: Fumiya Watanabe --- planning/behavior_path_lane_change_module/src/interface.cpp | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/planning/behavior_path_lane_change_module/src/interface.cpp b/planning/behavior_path_lane_change_module/src/interface.cpp index 00793532023b9..943d884acab8a 100644 --- a/planning/behavior_path_lane_change_module/src/interface.cpp +++ b/planning/behavior_path_lane_change_module/src/interface.cpp @@ -369,10 +369,12 @@ void LaneChangeInterface::updateSteeringFactorPtr(const BehaviorModuleOutput & o const auto finish_distance = motion_utils::calcSignedArcLength( output.path.points, current_position, status.lane_change_path.info.shift_line.end.position); + const auto factor_status = module_type_->isAbortState() ? uint16_t(100) : SteeringFactor::TURNING; + steering_factor_interface_ptr_->updateSteeringFactor( {status.lane_change_path.info.shift_line.start, status.lane_change_path.info.shift_line.end}, {start_distance, finish_distance}, PlanningBehavior::LANE_CHANGE, steering_factor_direction, - SteeringFactor::TURNING, ""); + factor_status, ""); } void LaneChangeInterface::updateSteeringFactorPtr(