From 2f233b4e356c99e9b1435b3338d6b8a16a069696 Mon Sep 17 00:00:00 2001 From: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Thu, 11 Jan 2024 11:08:40 +0900 Subject: [PATCH] fix(lane_change): check able to return to original lane in abort (#6034) * fix(lane_change): check able to return to original lane in abort Signed-off-by: Muhammad Zulfaqar Azmi * fix cancel state Signed-off-by: Muhammad Zulfaqar Azmi * revert changes Signed-off-by: Muhammad Zulfaqar Azmi --------- Signed-off-by: Muhammad Zulfaqar Azmi --- planning/behavior_path_lane_change_module/src/interface.cpp | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/planning/behavior_path_lane_change_module/src/interface.cpp b/planning/behavior_path_lane_change_module/src/interface.cpp index 22d85a2a1fc2a..448f83ecaf15e 100644 --- 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(