revert changes

Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]>
zulfaqar-azmi-t4 · Jan 10, 2024 · 239496b · 239496b
1 parent 370dadc
commit 239496b
Showing 1 changed file with 4 additions and 2 deletions.
diff --git a/planning/behavior_path_lane_change_module/src/interface.cpp b/planning/behavior_path_lane_change_module/src/interface.cpp
@@ -249,8 +249,10 @@ bool LaneChangeInterface::canTransitFailureState()
       return false;
     }
 
-    log_debug_throttled("It's unsafe and ego is in prepare phase. Cancel lane change.");
-    return true;
+    if (module_type_->isAbleToReturnCurrentLane()) {
+      log_debug_throttled("It's unsafe and ego is in prepare phase. Cancel lane change.");
+      return true;
+    }
   }
 
   if (post_process_safety_status_.is_safe) {