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Merge pull request #1087 from tier4/cp-lane-change-abort-able-to-return
fix(lane_change): check able to return to current lane
2 parents 89139f3 + 2f233b4 commit 2ea2390

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planning/behavior_path_lane_change_module/src/interface.cpp

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@@ -276,6 +276,11 @@ bool LaneChangeInterface::canTransitFailureState()
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return false;
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}
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if (!module_type_->isAbleToReturnCurrentLane()) {
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log_debug_throttled("It's is not possible to return to original lane. Continue lane change.");
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return false;
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}
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const auto found_abort_path = module_type_->calcAbortPath();
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if (!found_abort_path) {
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log_debug_throttled(

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