temp

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
tier4 · Feb 6, 2024 · 80a271f · 80a271f
1 parent 0b90a97
commit 80a271f
Showing 1 changed file with 13 additions and 5 deletions.
diff --git a/planning/behavior_velocity_intersection_module/src/scene_intersection_occlusion.cpp b/planning/behavior_velocity_intersection_module/src/scene_intersection_occlusion.cpp
@@ -58,11 +58,19 @@ IntersectionModule::getOcclusionStatus(
     (traffic_prioritized_level == TrafficPrioritizedLevel::PARTIALLY_PRIORITIZED) ||
     (traffic_prioritized_level == TrafficPrioritizedLevel::FULLY_PRIORITIZED) || no_tl_info_ever;
   // check occlusion on detection lane
-  auto occlusion_status =
-    (planner_param_.occlusion.enable && !occlusion_attention_lanelets.empty() &&
-     !is_amber_or_red_or_no_tl_info_ever)
-      ? detectOcclusion(interpolated_path_info)
-      : OcclusionType::NOT_OCCLUDED;
+  auto occlusion_status = [&]() {
+    if (!planner_param_.occlusion.enable || occlusion_attention_lanelets.empty()) {
+      return OcclusionType::NOT_OCCLUDED;
+    }
+    if (!has_traffic_light_) {
+      return detectOcclusion(interpolated_path_info);
+    }
+    // has_traffic_light_
+    if (is_amber_or_red_or_no_tl_info_ever) {
+      return OcclusionType::NOT_OCCLUDED;
+    }
+    return detectOcclusion(interpolated_path_info);
+  }();
   occlusion_stop_state_machine_.setStateWithMarginTime(
     occlusion_status == OcclusionType::NOT_OCCLUDED ? StateMachine::State::GO : StateMachine::STOP,
     logger_.get_child("occlusion_stop"), *clock_);