fix(lane_change): update lane change status in planWaitingApproval() (#…

…3061)

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

planning/behavior_path_planner/src/scene_module/lane_change/lane_change_module.cpp

@@ -257,8 +257,13 @@ CandidateOutput LaneChangeModule::planCandidate() const
 #endif
   const auto lane_change_lanes = getLaneChangeLanes(current_lanes, lane_change_lane_length_);
 
+#ifdef USE_OLD_ARCHITECTURE
   [[maybe_unused]] const auto [found_valid_path, found_safe_path] =
     getSafePath(lane_change_lanes, check_distance_, selected_path);
+#else
+  selected_path = status_.lane_change_path;
+#endif
+
   selected_path.path.header = planner_data_->route_handler->getRouteHeader();
 
   if (isAbortState()) {
@@ -295,6 +300,10 @@ BehaviorModuleOutput LaneChangeModule::planWaitingApproval()
   out.path = std::make_shared<PathWithLaneId>(prev_approved_path_);
   out.reference_path = getPreviousModuleOutput().reference_path;
 
+#ifndef USE_OLD_ARCHITECTURE
+  updateLaneChangeStatus();
+#endif
+
   const auto candidate = planCandidate();
   path_candidate_ = std::make_shared<PathWithLaneId>(candidate.path_candidate);
   path_reference_ = getPreviousModuleOutput().reference_path;