fix(behavior_path_planner): do not execute goal_planner when the fixed goal is not in current lanes #3796
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…d goal is not in current lanes Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
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…d goal is not in current lanes (autowarefoundation#3796) Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
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…d goal is not in current lanes (autowarefoundation#3796) (#511) Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
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Description
when setting
left_side_parking_and the fixed goal is put in the right lane of the current lanes, goal_planner is executed. This blocks other modules to run in the old behavior_path_planner architecture.e.g.) right LC can not be executed when putting the fixed goal right of current lanes, and the goal is close to the ego-vehicle.
cap-.2023-05-23-16-32-20.mp4
and this PR also fix the problem lane change can not be done when approved at the path terminal.
tier4 internal ticket
Related links
tier4 internal ticket
Tests performed
psim
Notes for reviewers
Interface changes
not applicable
Effects on system behavior
not applicable
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