From 61ed72396a60d0c203a0cac1f575aeaee1b5bcf5 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Wed, 27 Dec 2023 19:46:50 +0900 Subject: [PATCH] fix(intersection): fix private condition (#5975) --- .../src/scene_intersection.cpp | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/planning/behavior_velocity_intersection_module/src/scene_intersection.cpp b/planning/behavior_velocity_intersection_module/src/scene_intersection.cpp index 5909d607f6351..631c03d923da0 100644 --- a/planning/behavior_velocity_intersection_module/src/scene_intersection.cpp +++ b/planning/behavior_velocity_intersection_module/src/scene_intersection.cpp @@ -1058,8 +1058,10 @@ IntersectionModule::DecisionResult IntersectionModule::modifyPathVelocityDetail( const bool is_first_conflicting_lane_private = (std::string(first_conflicting_lane.attributeOr("location", "else")).compare("private") == 0); if (stuck_detected) { - if (!(is_first_conflicting_lane_private && - planner_param_.stuck_vehicle.disable_against_private_lane)) { + if ( + is_first_conflicting_lane_private && + planner_param_.stuck_vehicle.disable_against_private_lane) { + // do nothing } else { std::optional stopline_idx = std::nullopt; if (stuck_stopline_idx_opt) {