From ca5a55a8141e0df1b9122efb7dd90b508ee49103 Mon Sep 17 00:00:00 2001 From: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Mon, 15 Apr 2024 09:26:01 +0900 Subject: [PATCH 1/2] revert(lane_change): disable terminal path (#6800) Signed-off-by: Zulfaqar Azmi --- planning/behavior_path_lane_change_module/src/interface.cpp | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/planning/behavior_path_lane_change_module/src/interface.cpp b/planning/behavior_path_lane_change_module/src/interface.cpp index e9cf151cd3959..ee3fa2cb5f7df 100644 --- a/planning/behavior_path_lane_change_module/src/interface.cpp +++ b/planning/behavior_path_lane_change_module/src/interface.cpp @@ -129,8 +129,7 @@ BehaviorModuleOutput LaneChangeInterface::planWaitingApproval() { *prev_approved_path_ = getPreviousModuleOutput().path; - BehaviorModuleOutput out; - out = module_type_->getTerminalLaneChangePath(); + BehaviorModuleOutput out = getPreviousModuleOutput(); module_type_->insertStopPoint(module_type_->getLaneChangeStatus().current_lanes, out.path); out.turn_signal_info = getCurrentTurnSignalInfo(out.path, getPreviousModuleOutput().turn_signal_info); From 67cb9a6f71a431f2317ae7e227214bf1c1808b27 Mon Sep 17 00:00:00 2001 From: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Thu, 16 May 2024 14:46:54 +0900 Subject: [PATCH 2/2] revert(lane_change): remove terminal in abort path (#6930) Signed-off-by: Muhammad Zulfaqar Azmi --- .../behavior_path_lane_change_module/src/scene.cpp | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/planning/behavior_path_lane_change_module/src/scene.cpp b/planning/behavior_path_lane_change_module/src/scene.cpp index 8ae0582828834..0d8b25ab2cfce 100644 --- a/planning/behavior_path_lane_change_module/src/scene.cpp +++ b/planning/behavior_path_lane_change_module/src/scene.cpp @@ -1888,11 +1888,11 @@ bool NormalLaneChange::calcAbortPath() PathWithLaneId reference_lane_segment = prev_module_path_; { - const auto terminal_path = - calcTerminalLaneChangePath(reference_lanelets, selected_path.info.target_lanes); - if (terminal_path) { - reference_lane_segment = terminal_path->path; - } + // const auto terminal_path = + // calcTerminalLaneChangePath(reference_lanelets, selected_path.info.target_lanes); + // if (terminal_path) { + // reference_lane_segment = terminal_path->path; + // } const auto return_pose = shifted_path.path.points.at(abort_return_idx).point.pose; const auto seg_idx = motion_utils::findFirstNearestSegmentIndexWithSoftConstraints( reference_lane_segment.points, return_pose, common_param.ego_nearest_dist_threshold,