fix(intersection): fixed to restart after occlusion is cleared (#403)

fix(intersection): fixed to restart after occlusion is cleared (autowarefoundation#3552) fixed to restart after occlusion disappeared Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
tier4 · May 1, 2023 · 30aa669 · 30aa669
1 parent 0e5f645
commit 30aa669
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
@@ -387,7 +387,7 @@ 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 */