Prediction: change onlane logic

LovePinkFloyd · Dec 13, 2018 · 7148c6b · 7148c6b
1 parent 7a9af2a
commit 7148c6b
Showing 1 changed file with 1 addition and 2 deletions.
diff --git a/modules/prediction/container/obstacles/obstacle.cc b/modules/prediction/container/obstacles/obstacle.cc
@@ -124,8 +124,7 @@ bool Obstacle::IsStill() {
 bool Obstacle::IsOnLane() const {
   if (feature_history_.size() > 0) {
     if (feature_history_.front().has_lane() &&
-        (feature_history_.front().lane().current_lane_feature_size() > 0 ||
-         feature_history_.front().lane().nearby_lane_feature_size() > 0)) {
+        feature_history_.front().lane().current_lane_feature_size() > 0) {
       ADEBUG << "Obstacle [" << id_ << "] is on lane.";
       return true;
     }