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fix(lane_change): cherry-pick disable terminal path #1301

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May 22, 2024
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Original file line number Diff line number Diff line change
Expand Up @@ -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);
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10 changes: 5 additions & 5 deletions planning/behavior_path_lane_change_module/src/scene.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -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,
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