add stop vehicle check

tier4 · Dec 13, 2023 · e72b474 · e72b474
1 parent 14dcef0
commit e72b474
Showing 1 changed file with 3 additions and 1 deletion.
diff --git a/planning/obstacle_stop_planner/src/node.cpp b/planning/obstacle_stop_planner/src/node.cpp
@@ -663,7 +663,9 @@ void ObstacleStopPlannerNode::searchObstacle(
 
   const auto now = this->now();
 
-  updateObstacleHistory(now);
+  if (current_velocity_ptr ->twist.twist.linear.x  == 0){
+    updateObstacleHistory(now);
+  }
 
   for (size_t i = 0; i < decimate_trajectory.size() - 1; ++i) {
     // create one step circle center for vehicle