From 4ca48aa84e9fe576fe4d25f5c17b0f92af04fd0c Mon Sep 17 00:00:00 2001 From: kosuke55 Date: Tue, 24 Oct 2023 19:02:09 +0900 Subject: [PATCH] fix(lane_change): fix terminal stop distance Signed-off-by: kosuke55 --- .../src/scene_module/lane_change/normal.cpp | 4 +++- 1 file changed, 3 insertions(+), 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 index de120592e7505..2d402bb3523b5 100644 --- 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(