fix(behavior_path_planner_common): use boost intersects instead of ov…

…erlaps (#9289)

* fix(behavior_path_planner_common): use boost intersects instead of overlaps

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

* Update planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/safety_check.cpp

Co-authored-by: Go Sakayori <go-sakayori@users.noreply.github.com>

---------

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
Co-authored-by: Go Sakayori <go-sakayori@users.noreply.github.com>

planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/safety_check.cpp

@@ -531,7 +531,7 @@ bool checkSafetyWithIntegralPredictedPolygon(
     CollisionCheckDebugPair debug_pair = createObjectDebug(object);
     for (const auto & path : object.predicted_paths) {
       for (const auto & pose_with_poly : path.path) {
-        if (boost::geometry::overlaps(ego_integral_polygon, pose_with_poly.poly)) {
+        if (boost::geometry::intersects(ego_integral_polygon, pose_with_poly.poly)) {
           debug_pair.second.ego_predicted_path = ego_predicted_path;  // raw path
           debug_pair.second.obj_predicted_path = path.path;           // raw path
           debug_pair.second.extended_obj_polygon = pose_with_poly.poly;
@@ -604,8 +604,8 @@ std::vector<Polygon2d> get_collided_polygons(
     const double yaw_difference = autoware::universe_utils::normalizeRadian(ego_yaw - object_yaw);
     if (std::abs(yaw_difference) > yaw_difference_th) continue;
 
-    // check overlap
-    if (boost::geometry::overlaps(ego_polygon, obj_polygon)) {
+    // check intersects
+    if (boost::geometry::intersects(ego_polygon, obj_polygon)) {
       debug.unsafe_reason = "overlap_polygon";
       collided_polygons.push_back(obj_polygon);
 
@@ -658,8 +658,8 @@ std::vector<Polygon2d> get_collided_polygons(
                       : createExtendedPolygon(
                           obj_pose_with_poly, lon_offset, lat_margin, is_stopped_object, debug);
 
-    // check overlap with extended polygon
-    if (boost::geometry::overlaps(extended_ego_polygon, extended_obj_polygon)) {
+    // check intersects with extended polygon
+    if (boost::geometry::intersects(extended_ego_polygon, extended_obj_polygon)) {
       debug.unsafe_reason = "overlap_extended_polygon";
       collided_polygons.push_back(obj_polygon);