Planning: minor bug fix in lane-change state tracking

qxdxx · Nov 8, 2019 · dac62df · dac62df
1 parent 4d7802b
commit dac62df
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Showing 2 changed files with 1 addition and 3 deletions.
diff --git a/modules/planning/common/planning_gflags.cc b/modules/planning/common/planning_gflags.cc
@@ -157,7 +157,7 @@ DEFINE_bool(reckless_change_lane, false,
 DEFINE_double(change_lane_fail_freeze_time, 1.0,
               "seconds. Not allowed to change lane this amount of time "
               "if it just failed to change lane");
-DEFINE_double(change_lane_success_freeze_time, 3.0,
+DEFINE_double(change_lane_success_freeze_time, 1.5,
               "seconds. Not allowed to change lane this amount of time "
               "if it just finished change lane");
 DEFINE_double(change_lane_min_length, 30.0,

diff --git a/modules/planning/tasks/deciders/lane_change_decider/lane_change_decider.cc b/modules/planning/tasks/deciders/lane_change_decider/lane_change_decider.cc
@@ -133,8 +133,6 @@ void LaneChangeDecider::UpdatePreparationDistance(
   auto* lane_change_status = PlanningContext::Instance()
                                  ->mutable_planning_status()
                                  ->mutable_change_lane();
-  lane_change_status->set_timestamp(Clock::NowInSeconds());
-  lane_change_status->set_path_id(reference_line_info->Lanes().Id());
   ADEBUG << "Current time: " << lane_change_status->timestamp();
   ADEBUG << "Lane Change Status: " << lane_change_status->status();
   // If lane change planning succeeded, update and return