fix(avoidance): apply logic only for non-parked vehicle

Signed-off-by: satoshi-ota <[email protected]>
autowarefoundation · Apr 25, 2024 · b69170a · b69170a
1 parent 4de89c0
commit b69170a
Showing 1 changed file with 4 additions and 4 deletions.
diff --git a/planning/behavior_path_avoidance_module/src/utils.cpp b/planning/behavior_path_avoidance_module/src/utils.cpp
@@ -579,15 +579,15 @@ bool isNeverAvoidanceTarget(
   if (object.behavior == ObjectData::Behavior::MERGING) {
     object.reason = "MergingToEgoLane";
     if (
-      isOnRight(object) &&
+      isOnRight(object) && !object.is_parked &&
       object.overhang_points.front().first > parameters->th_overhang_distance) {
       RCLCPP_DEBUG(
         rclcpp::get_logger(__func__),
         "merging vehicle. but overhang distance is larger than threshold.");
       return true;
     }
     if (
-      !isOnRight(object) &&
+      !isOnRight(object) && !object.is_parked &&
       object.overhang_points.front().first < -1.0 * parameters->th_overhang_distance) {
       RCLCPP_DEBUG(
         rclcpp::get_logger(__func__),
@@ -599,15 +599,15 @@ bool isNeverAvoidanceTarget(
   if (object.behavior == ObjectData::Behavior::DEVIATING) {
     object.reason = "DeviatingFromEgoLane";
     if (
-      isOnRight(object) &&
+      isOnRight(object) && !object.is_parked &&
       object.overhang_points.front().first > parameters->th_overhang_distance) {
       RCLCPP_DEBUG(
         rclcpp::get_logger(__func__),
         "deviating vehicle. but overhang distance is larger than threshold.");
       return true;
     }
     if (
-      !isOnRight(object) &&
+      !isOnRight(object) && !object.is_parked &&
       object.overhang_points.front().first < -1.0 * parameters->th_overhang_distance) {
       RCLCPP_DEBUG(
         rclcpp::get_logger(__func__),