Insert stop point if object is coming from rear

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
autowarefoundation · Aug 6, 2024 · 775c85e · 775c85e
1 parent 87e6b52
commit 775c85e
Showing 1 changed file with 5 additions and 0 deletions.
diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/interface.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/interface.cpp
@@ -295,6 +295,11 @@ bool LaneChangeInterface::canTransitFailureState()
 
     if (post_process_safety_status_.is_safe) {
       log_debug_throttled("Can't transit to failure state. Ego is on prepare, and it's safe.");
+
+      if (module_type_->isRequiredStop(post_process_safety_status_.is_object_coming_from_rear)) {
+        log_debug_throttled("Module require stopping");
+      }
+
       return false;
     }