fix(avoidance): include shoulder lane to avoid (autowarefoundation#5750)

Signed-off-by: kosuke55 <[email protected]>
tier4 · Dec 7, 2023 · 515a084 · 515a084
1 parent 8c05ced
commit 515a084
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Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/planning/behavior_path_planner/src/utils/lane_change/utils.cpp b/planning/behavior_path_planner/src/utils/lane_change/utils.cpp
@@ -408,8 +408,8 @@ std::vector<DrivableLanes> generateDrivableLanes(
     drivable_lanes.at(i).left_lane = current_lane;
     drivable_lanes.at(i).right_lane = current_lane;
 
-    const auto left_lane = route_handler.getLeftLanelet(current_lane);
-    const auto right_lane = route_handler.getRightLanelet(current_lane);
+    const auto left_lane = route_handler.getLeftLanelet(current_lane, false, false);
+    const auto right_lane = route_handler.getRightLanelet(current_lane, false, false);
     if (!left_lane && !right_lane) {
       continue;
     }

diff --git a/planning/route_handler/include/route_handler/route_handler.hpp b/planning/route_handler/include/route_handler/route_handler.hpp
@@ -123,7 +123,7 @@ class RouteHandler
    */
   boost::optional<lanelet::ConstLanelet> getRightLanelet(
     const lanelet::ConstLanelet & lanelet, const bool enable_same_root = false,
-    const bool get_shoulder_lane = false) const;
+    const bool get_shoulder_lane = true) const;
 
   /**
    * @brief Check if same-direction lane is available at the left side of the lanelet
@@ -134,7 +134,7 @@ class RouteHandler
    */
   boost::optional<lanelet::ConstLanelet> getLeftLanelet(
     const lanelet::ConstLanelet & lanelet, const bool enable_same_root = false,
-    const bool get_shoulder_lane = false) const;
+    const bool get_shoulder_lane = true) const;
   lanelet::ConstLanelets getNextLanelets(const lanelet::ConstLanelet & lanelet) const;
   lanelet::ConstLanelets getPreviousLanelets(const lanelet::ConstLanelet & lanelet) const;