fixup! feat(avoidance): suppress unnecessary avoidance path

satoshi-ota · Oct 19, 2023 · 77eb378 · 77eb378
1 parent 45a24b9
commit 77eb378
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Showing 2 changed files with 2 additions and 1 deletion.
diff --git a/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp b/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp
@@ -2724,6 +2724,7 @@ void AvoidanceModule::updateDebugMarker(
     addObjects(data.other_objects, std::string("NotNeedAvoidance"));
     addObjects(data.other_objects, std::string("LessThanExecutionThreshold"));
     addObjects(data.other_objects, std::string("TooNearToGoal"));
+    addObjects(data.other_objects, std::string("WaitingOtherVehicle"));
   }
 
   // shift line pre-process

diff --git a/planning/behavior_path_planner/src/utils/avoidance/utils.cpp b/planning/behavior_path_planner/src/utils/avoidance/utils.cpp
@@ -1298,7 +1298,7 @@ void filterTargetObjects(
         lanelet::utils::getClosestCenterPose(overhang_lanelet, object_pose.position);
       const auto yaw_deviation = std::abs(calcYawDeviation(closest_pose, object_pose));
       if (yaw_deviation < THRESHOLD || yaw_deviation > M_PI - THRESHOLD) {
-        o.reason = AvoidanceDebugFactor::NOT_PARKING_OBJECT;
+        o.reason = "WaitingOtherVehicle";
         data.other_objects.push_back(o);
         continue;
       }