ignore expectedToStopBeforeStopLine vehicle

Signed-off-by: Mamoru Sobue <[email protected]>
autowarefoundation · Oct 13, 2023 · 6092905 · 6092905
1 parent b0ac237
commit 6092905
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/planning/behavior_velocity_intersection_module/src/scene_intersection.cpp b/planning/behavior_velocity_intersection_module/src/scene_intersection.cpp
@@ -1286,9 +1286,9 @@ util::TargetObjects IntersectionModule::generateTargetObjects(
                  planner_param_.common.attention_area_angle_thr,
                  planner_param_.common.consider_wrong_direction_vehicle,
                  planner_param_.common.attention_area_margin, is_parked_vehicle);
-               belong_attention_lanelet_id) {
+               belong_attention_lanelet_id.has_value()) {
       // intersection_area is not available, use detection_area_with_margin as before
-      const auto id = belong_adjacent_lanelet_id.value();
+      const auto id = belong_attention_lanelet_id.value();
       util::TargetObject target_object;
       target_object.object = object;
       target_object.attention_lanelet = attention_lanelets.at(id);