fix(behavior_path_planner): use expand lanelet in pull over (autoware…

…foundation#2313) Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com>
HansRobo · Dec 16, 2022 · ca01282 · ca01282
1 parent c912fef
commit ca01282
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/planning/behavior_path_planner/src/scene_module/pull_over/pull_over_module.cpp b/planning/behavior_path_planner/src/scene_module/pull_over/pull_over_module.cpp
@@ -446,7 +446,7 @@ BehaviorModuleOutput PullOverModule::plan()
       status_.lanes, parameters_.drivable_area_left_bound_offset,
       parameters_.drivable_area_right_bound_offset);
     path.drivable_area = util::generateDrivableArea(
-      path, status_.lanes, p.drivable_area_resolution, p.vehicle_length, planner_data_);
+      path, lane, p.drivable_area_resolution, p.vehicle_length, planner_data_);
   }
 
   BehaviorModuleOutput output;