fix(start_planner): fix backward drving path cutting (#5098)

Signed-off-by: kosuke55 <[email protected]>
autowarefoundation · Sep 24, 2023 · ec99b2f · ec99b2f
1 parent 1ada567
commit ec99b2f
Show file tree

Hide file tree

Showing 2 changed files with 8 additions and 3 deletions.
diff --git a/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp b/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp
@@ -1160,8 +1160,11 @@ void StartPlannerModule::setDrivableAreaInfo(BehaviorModuleOutput & output) cons
 
     DrivableAreaInfo current_drivable_area_info;
     current_drivable_area_info.drivable_lanes = target_drivable_lanes;
-    output.drivable_area_info = utils::combineDrivableAreaInfo(
-      current_drivable_area_info, getPreviousModuleOutput().drivable_area_info);
+    output.drivable_area_info =
+      status_.back_finished
+        ? utils::combineDrivableAreaInfo(
+            current_drivable_area_info, getPreviousModuleOutput().drivable_area_info)
+        : current_drivable_area_info;
   }
 }
 

diff --git a/planning/behavior_path_planner/src/utils/utils.cpp b/planning/behavior_path_planner/src/utils/utils.cpp
@@ -1544,7 +1544,9 @@ void generateDrivableArea(
 
   // make bound longitudinally monotonic
   // TODO(Murooka) Fix makeBoundLongitudinallyMonotonic
-  if (enable_expanding_hatched_road_markings || enable_expanding_intersection_areas) {
+  if (
+    is_driving_forward &&
+    (enable_expanding_hatched_road_markings || enable_expanding_intersection_areas)) {
     makeBoundLongitudinallyMonotonic(path, planner_data, true);   // for left bound
     makeBoundLongitudinallyMonotonic(path, planner_data, false);  // for right bound
   }