fix cancel state

Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]>
zulfaqar-azmi-t4 · Jan 9, 2024 · a40d985 · a40d985
1 parent a922ff3
commit a40d985
Showing 1 changed file with 3 additions and 0 deletions.
diff --git a/planning/behavior_path_lane_change_module/src/interface.cpp b/planning/behavior_path_lane_change_module/src/interface.cpp
@@ -248,6 +248,9 @@ bool LaneChangeInterface::canTransitFailureState()
       log_debug_throttled("Can't transit to failure state. Ego is on prepare, and it's safe.");
       return false;
     }
+
+    log_debug_throttled("It's unsafe and ego is in prepare phase. Cancel lane change.");
+    return true;
   }
 
   if (post_process_safety_status_.is_safe) {