fix(lane_change): fix terminal stop distance

Signed-off-by: kosuke55 <[email protected]>
autowarefoundation · Oct 24, 2023 · 4ca48aa · 4ca48aa
1 parent 0f9eb8a
commit 4ca48aa
Showing 1 changed file with 3 additions and 1 deletion.
diff --git a/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp b/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp
@@ -403,7 +403,9 @@ TurnSignalInfo NormalLaneChange::updateOutputTurnSignal()
 
 lanelet::ConstLanelets NormalLaneChange::getCurrentLanes() const
 {
-  return utils::getCurrentLanesFromPath(prev_module_path_, planner_data_);
+  return utils::getCurrentLanes(
+    planner_data_, lane_change_parameters_->backward_lane_length,
+    planner_data_->parameters.forward_path_length);
 }
 
 lanelet::ConstLanelets NormalLaneChange::getLaneChangeLanes(