fix(intersection): fixed to restart after occlusion is cleared (autow…

…arefoundation#3552) fixed to restart after occlusion disappeared Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp> Signed-off-by: Mingyu Li <mingyu.li@tier4.jp>
Mingyu1991 · Jun 26, 2023 · b1750fb · b1750fb
1 parent f3e7265
commit b1750fb
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/planning/behavior_velocity_planner/src/scene_module/intersection/scene_intersection.cpp b/planning/behavior_velocity_planner/src/scene_module/intersection/scene_intersection.cpp
@@ -390,7 +390,7 @@ bool IntersectionModule::modifyPathVelocity(PathWithLaneId * path, StopReason *
       occlusion_first_stop_safety_ = false;
       occlusion_first_stop_distance_ = dist_1st_stopline;
     }
-    occlusion_safety_ = false;
+    occlusion_safety_ = is_occlusion_cleared;
     occlusion_stop_distance_ = dist_2nd_stopline;
   } else {
     /* collision */