fix(avoidance): don't clear waiting approval if raw shift line exists (…

…autowarefoundation#4012) Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
tier4 · Jun 19, 2023 · 8577563 · 8577563
1 parent 18a5c5f
commit 8577563
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp b/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp
@@ -2693,7 +2693,7 @@ BehaviorModuleOutput AvoidanceModule::planWaitingApproval()
     [](const auto & o) { return !o.is_avoidable; });
 
   const auto candidate = planCandidate();
-  if (!avoidance_data_.safe_new_sl.empty()) {
+  if (!avoidance_data_.unapproved_raw_sl.empty()) {
     updateCandidateRTCStatus(candidate);
     waitApproval();
   } else if (all_unavoidable) {