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feat(static_obstacle_avoidance): return original lane automatically #10231

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feat(static_obstacle_avoidance): return original lane automatically #10231

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46 changes: 23 additions & 23 deletions ...havior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -610,6 +610,29 @@ void StaticObstacleAvoidanceModule::fillEgoStatus(
return;
}

/**
* If the yield maneuver is disabled, use unapproved_new_sl for avoidance path generation even if
* the shift line is unsafe.
*/
if (!parameters_->enable_yield_maneuver) {
data.yield_required = false;
data.safe_shift_line = data.new_shift_line;
return;
}

/**
* TODO(Satoshi OTA) Think yield maneuver in the middle of avoidance.
* Even if it is determined that a yield is necessary, the yield maneuver is not executed
* if the avoidance has already been initiated.
*/
if (!can_yield_maneuver) {
data.safe = true; // overwrite safety judge.
data.yield_required = false;
data.safe_shift_line = data.new_shift_line;
RCLCPP_WARN_THROTTLE(getLogger(), *clock_, 500, "unsafe. but could not transit yield status.");
return;
}

auto candidate_sl_force_activated = [&](const std::string & direction) {
// If statement to avoid unnecessary warning occurring from isForceActivated function
if (candidate_uuid_ == uuid_map_.at(direction)) {
Expand Down Expand Up @@ -649,29 +672,6 @@ void StaticObstacleAvoidanceModule::fillEgoStatus(
return;
}

/**
* If the yield maneuver is disabled, use unapproved_new_sl for avoidance path generation even if
* the shift line is unsafe.
*/
if (!parameters_->enable_yield_maneuver) {
data.yield_required = false;
data.safe_shift_line = data.new_shift_line;
return;
}

/**
* TODO(Satoshi OTA) Think yield maneuver in the middle of avoidance.
* Even if it is determined that a yield is necessary, the yield maneuver is not executed
* if the avoidance has already been initiated.
*/
if (!can_yield_maneuver) {
data.safe = true; // overwrite safety judge.
data.yield_required = false;
data.safe_shift_line = data.new_shift_line;
RCLCPP_WARN_THROTTLE(getLogger(), *clock_, 500, "unsafe. but could not transit yield status.");
return;
}

/**
* Transit yield maneuver. Clear shift lines and output yield path.
*/
Expand Down
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