From b69170ae213ead122fa42bc3c29d154e12602bd5 Mon Sep 17 00:00:00 2001 From: satoshi-ota Date: Mon, 15 Apr 2024 10:14:53 +0900 Subject: [PATCH] fix(avoidance): apply logic only for non-parked vehicle Signed-off-by: satoshi-ota --- planning/behavior_path_avoidance_module/src/utils.cpp | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/planning/behavior_path_avoidance_module/src/utils.cpp b/planning/behavior_path_avoidance_module/src/utils.cpp index 29e97d278dfb0..9edd570bf82ca 100644 --- a/planning/behavior_path_avoidance_module/src/utils.cpp +++ b/planning/behavior_path_avoidance_module/src/utils.cpp @@ -579,7 +579,7 @@ 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__), @@ -587,7 +587,7 @@ bool isNeverAvoidanceTarget( 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__), @@ -599,7 +599,7 @@ 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__), @@ -607,7 +607,7 @@ bool isNeverAvoidanceTarget( 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__),