fix(behavior_path_planner): remove setting maximum velocity after lan…

…e change (autowarefoundation#3756) Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>
rej55 · May 19, 2023 · 7b424d8 · 7b424d8
1 parent 6bf3fb1
commit 7b424d8
Showing 1 changed file with 0 additions and 2 deletions.
diff --git a/planning/behavior_path_planner/src/utils/lane_change/utils.cpp b/planning/behavior_path_planner/src/utils/lane_change/utils.cpp
@@ -173,8 +173,6 @@ std::optional<LaneChangePath> constructCandidatePath(
         lane_changing_start_point.point.longitudinal_velocity_mps);
       continue;
     }
-    point.point.longitudinal_velocity_mps =
-      std::min(point.point.longitudinal_velocity_mps, static_cast<float>(lane_changing_velocity));
     const auto nearest_idx =
       motion_utils::findNearestIndex(target_segment.points, point.point.pose);
     point.lane_ids = target_segment.points.at(*nearest_idx).lane_ids;