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fix(lane_change): update lane change status in planWaitingApproval() #3061

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Mar 13, 2023
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fix(lane_change): update lane change status in planWaitingApproval() #3061

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9 changes: 9 additions & 0 deletions planning/behavior_path_planner/src/scene_module/lane_change/lane_change_module.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -236,8 +236,13 @@ CandidateOutput LaneChangeModule::planCandidate() const
const auto current_lanes = util::getCurrentLanes(planner_data_);
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()) {
Expand Down Expand Up @@ -273,6 +278,10 @@ BehaviorModuleOutput LaneChangeModule::planWaitingApproval()
BehaviorModuleOutput out;
out.path = std::make_shared<PathWithLaneId>(prev_approved_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;
Expand Down