fix(avoidance): fix wrong reason for unavoidable situation

Signed-off-by: satoshi-ota <[email protected]>
autowarefoundation · Nov 13, 2023 · e3b0b0b · e3b0b0b
1 parent d749a7d
commit e3b0b0b
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp b/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp
@@ -1003,7 +1003,7 @@ AvoidOutlines AvoidanceModule::generateAvoidOutline(
     if (feasible) {
       RCLCPP_WARN_THROTTLE(
         getLogger(), *clock_, 1000, "feasible shift length is not enough to avoid. ");
-      object.reason = AvoidanceDebugFactor::INSUFFICIENT_LATERAL_MARGIN;
+      object.reason = AvoidanceDebugFactor::TOO_LARGE_JERK;
       return boost::none;
     }