fix(lane_change): skip parked object filtering (autowarefoundation#4868)

Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>

planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp

@@ -649,7 +649,6 @@ LaneChangeTargetObjectIndices NormalLaneChange::filterObject(
   const lanelet::ConstLanelets & target_backward_lanes) const
 {
   const auto current_pose = getEgoPose();
-  const auto current_vel = getEgoVelocity();
   const auto & route_handler = *getRouteHandler();
   const auto & common_parameters = planner_data_->parameters;
   const auto & objects = *planner_data_->dynamic_object;
@@ -672,12 +671,6 @@ LaneChangeTargetObjectIndices NormalLaneChange::filterObject(
   const auto target_backward_polygon = utils::lane_change::createPolygon(
     target_backward_lanes, 0.0, std::numeric_limits<double>::max());
 
-  // minimum distance to lane changing start point
-  const double t_prepare = common_parameters.lane_change_prepare_duration;
-  const double a_min = lane_change_parameters_->min_longitudinal_acc;
-  const double min_dist_to_lane_changing_start = std::max(
-    current_vel * t_prepare, current_vel * t_prepare + 0.5 * a_min * t_prepare * t_prepare);
-
   auto filtered_objects = objects;
 
   utils::path_safety_checker::filterObjectsByClass(
@@ -712,12 +705,8 @@ LaneChangeTargetObjectIndices NormalLaneChange::filterObject(
 
     // check if the object intersects with target lanes
     if (target_polygon && boost::geometry::intersects(target_polygon.value(), obj_polygon)) {
-      // ignore static parked object that are in front of the ego vehicle in target lanes
-      bool is_parked_object =
-        utils::lane_change::isParkedObject(target_path, route_handler, extended_object, 0.0, 0.0);
-      if (is_parked_object && min_dist_ego_to_obj > min_dist_to_lane_changing_start) {
-        continue;
-      }
+      // TODO(watanabe): ignore static parked object that are in front of the ego vehicle in target
+      // lanes
 
       filtered_obj_indices.target_lane.push_back(i);
       continue;