Update planning/behavior_path_planner/autoware_behavior_path_lane_cha…

…nge_module/src/scene.cpp Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com>
autowarefoundation · Nov 11, 2024 · 63cafd5 · 63cafd5
1 parent 1eaba01
commit 63cafd5
Showing 1 changed file with 2 additions and 3 deletions.
diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp
@@ -606,11 +606,10 @@ std::optional<PathWithLaneId> NormalLaneChange::extendPath()
     forward_path_length) {
     return std::nullopt;
   }
-  const auto is_goal_in_target = getRouteHandler()->isInGoalRouteSection(target_lanes.back());
-
   const auto dist_to_end_of_path =
     lanelet::utils::getArcCoordinates(target_lanes, path.points.back().point.pose).length;
-  if (is_goal_in_target) {
+
+  if (common_data_ptr_->lanes_ptr->target_lane_in_goal_section) {
     const auto goal_pose = getRouteHandler()->getGoalPose();
 
     const auto dist_to_goal = lanelet::utils::getArcCoordinates(target_lanes, goal_pose).length;