fix(lane_change): update target lane if valid path not found (autowar…

…efoundation#5287) Signed-off-by: Fumiya Watanabe <[email protected]>
tier4 · Oct 15, 2023 · 861c84e · 861c84e
1 parent 7a0bdd2
commit 861c84e
Showing 1 changed file with 1 addition and 0 deletions.
diff --git a/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp b/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp
@@ -85,6 +85,7 @@ std::pair<bool, bool> NormalLaneChange::getSafePath(LaneChangePath & safe_path)
 
   if (valid_paths.empty()) {
     safe_path.info.current_lanes = current_lanes;
+    safe_path.info.target_lanes = target_lanes;
     return {false, false};
   }