fix(behavior_path_planner): fix lane change path validation logic (#2873

) Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>
autowarefoundation · Feb 13, 2023 · 58ee5e4 · 58ee5e4
1 parent b850b25
commit 58ee5e4
Showing 1 changed file with 3 additions and 1 deletion.
diff --git a/planning/behavior_path_planner/src/scene_module/lane_change/util.cpp b/planning/behavior_path_planner/src/scene_module/lane_change/util.cpp
@@ -541,7 +541,9 @@ bool hasEnoughDistance(
     return true;
   }
 
-  if (lane_change_total_distance > util::getDistanceToEndOfLane(current_pose, target_lanes)) {
+  if (
+    lane_change_total_distance + lane_change_required_distance >
+    util::getDistanceToEndOfLane(current_pose, target_lanes)) {
     return false;
   }