planning: no PULL_OVER while changing lane

a80e9456 · jmtao · Xiangquan Xiao · c876db67 · a80e9456
隐藏空白更改
内联并排

Showing with 2 addition and 1 deletion

modules/planning/scenarios/scenario_manager.cc modules/planning/scenarios/scenario_manager.cc +2 -1

未找到文件。
--- a/modules/planning/scenarios/scenario_manager.cc
+++ b/modules/planning/scenarios/scenario_manager.cc
@@ -166,7 +166,8 @@ ScenarioConfig::ScenarioType ScenarioManager::SelectPullOverScenario(
         << adc_front_edge_s << "]";

  const bool pull_over_scenario =
-      (adc_distance_to_dest > 0 &&
+      (frame.reference_line_info().size() == 1 &&  // NO, while changing lane
+       adc_distance_to_dest > 0 &&
       adc_distance_to_dest <=
           scenario_config.start_pull_over_scenario_distance());