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fix(avoidance): include shoulder lane to avoid (#5750) #1062

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merged 1 commit into from
Dec 7, 2023
Merged

fix(avoidance): include shoulder lane to avoid (#5750) #1062

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4 changes: 2 additions & 2 deletions planning/behavior_path_planner/src/utils/lane_change/utils.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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;
}
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4 changes: 2 additions & 2 deletions planning/route_handler/include/route_handler/route_handler.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand All @@ -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;

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