From df29d39ac4c58d2738c3b6b6f908ac30c3bff4e8 Mon Sep 17 00:00:00 2001 From: JasonZhou404 Date: Thu, 16 May 2019 21:17:02 -0700 Subject: [PATCH] Planning: fix side pass stop --- .../rule_based_stop_decider.cc | 18 +++++++++--------- 1 file changed, 9 insertions(+), 9 deletions(-) diff --git a/modules/planning/tasks/deciders/rule_based_stop_decider/rule_based_stop_decider.cc b/modules/planning/tasks/deciders/rule_based_stop_decider/rule_based_stop_decider.cc index 6fd8f93650..793f52336f 100644 --- a/modules/planning/tasks/deciders/rule_based_stop_decider/rule_based_stop_decider.cc +++ b/modules/planning/tasks/deciders/rule_based_stop_decider/rule_based_stop_decider.cc @@ -145,17 +145,17 @@ void RuleBasedStopDecider::StopOnSidePass( mutable_side_pass_info->set_check_clear_flag(false); } - if (!LaneChangeDecider::IsPerceptionBlocked( - *reference_line_info, - rule_based_stop_decider_config_.search_beam_length(), - rule_based_stop_decider_config_.search_beam_radius_intensity(), - rule_based_stop_decider_config_.search_range(), - rule_based_stop_decider_config_.is_block_angle_threshold())) { - return; - } - if (!side_pass_info.check_clear_flag() && CheckSidePassStop(path_data, *reference_line_info, &stop_s_on_pathdata)) { + if (!LaneChangeDecider::IsPerceptionBlocked( + *reference_line_info, + rule_based_stop_decider_config_.search_beam_length(), + rule_based_stop_decider_config_.search_beam_radius_intensity(), + rule_based_stop_decider_config_.search_range(), + rule_based_stop_decider_config_.is_block_angle_threshold()) && + LaneChangeDecider::IsClearToChangeLane(reference_line_info)) { + return; + } if (!CheckADCStop(path_data, *reference_line_info, stop_s_on_pathdata)) { if (!BuildSidePassStopFence( path_data, stop_s_on_pathdata, -- GitLab