From cd1e5dbe77ca08814e8e54d9c770882db50036d1 Mon Sep 17 00:00:00 2001
From: Shinnosuke Hirakawa <8327162+0x126@users.noreply.github.com>
Date: Fri, 12 Jul 2024 16:46:56 +0900
Subject: [PATCH] feat(blind_spot): consider road_shoulder if exist (#1411)
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PR7925相当の変更

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
Co-authored-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
---
 planning/behavior_velocity_blind_spot_module/src/scene.cpp | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/planning/behavior_velocity_blind_spot_module/src/scene.cpp b/planning/behavior_velocity_blind_spot_module/src/scene.cpp
index 62a5e06674d4e..8a1526f471775 100644
--- a/planning/behavior_velocity_blind_spot_module/src/scene.cpp
+++ b/planning/behavior_velocity_blind_spot_module/src/scene.cpp
@@ -550,6 +550,13 @@ std::optional<BlindSpotPolygons> BlindSpotModule::generateBlindSpotPolygons(
       if (adj_lane) {
         return *adj_lane;
       }
+      const auto assoc_shoulder =
+        (turn_direction_ == TurnDirection::LEFT)
+          ? planner_data_->route_handler_->getLeftLanelet(lane, true /* get_shoulder_lane */)
+          : planner_data_->route_handler_->getRightLanelet(lane, true);
+      if (assoc_shoulder) {
+        return assoc_shoulder.value();
+      }
 
       return std::nullopt;
     });