fix(behavior_velocity_planner): ignore pass judge when external_stop …

…is true (#691) Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>
tier4 · Apr 13, 2022 · 9947cb4 · 9947cb4
1 parent 0d1c5a5
commit 9947cb4
Showing 1 changed file with 2 additions and 2 deletions.
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
@@ -123,8 +123,8 @@ bool IntersectionModule::modifyPathVelocity(
     return false;
   }
 
-  if (stop_line_idx <= 0 || pass_judge_line_idx <= 0) {
-    RCLCPP_DEBUG(logger_, "stop line or pass judge line is at path[0], ignore planning.");
+  if (stop_line_idx <= 0) {
+    RCLCPP_DEBUG(logger_, "stop line line is at path[0], ignore planning.");
     RCLCPP_DEBUG(logger_, "===== plan end =====");
     return true;
   }