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fix(lane_change): guard invalid lc start point #3257

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merged 2 commits into from
Apr 4, 2023
Merged

fix(lane_change): guard invalid lc start point #3257

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4ac0c4a
fix(lane_change): guard invalid lc start point
satoshi-ota Apr 4, 2023
4883c9f
fix(lane_change): remove macro
satoshi-ota Apr 4, 2023
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9 changes: 9 additions & 0 deletions planning/behavior_path_planner/src/util/lane_change/util.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -371,6 +371,15 @@ std::pair<bool, bool> getLaneChangePaths(
// lane changing start pose is at the end of prepare segment
const auto & lane_changing_start_pose = prepare_segment.points.back().point.pose;

const auto target_distance_from_lane_change_start_pose = util::getArcLengthToTargetLanelet(
original_lanelets, target_lanelets.front(), lane_changing_start_pose);
// In new architecture, there is a possibility that the lane change start pose is behind of the
// target lanelet, even if the condition prepare_distance > target_distance is satisfied. In
// that case, the lane change shouldn't be executed.
if (target_distance_from_lane_change_start_pose > 0.0) {
break;
}

const auto shift_length =
lanelet::utils::getLateralDistanceToClosestLanelet(target_lanelets, lane_changing_start_pose);

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