fix(crosswalk): fix calclation distance from the null polygons (#7122)

Signed-off-by: Yuki Takagi <[email protected]>

planning/behavior_velocity_crosswalk_module/src/scene_crosswalk.hpp

@@ -182,7 +182,7 @@ class CrosswalkModule : public SceneModuleInterface
       const rclcpp::Time & now, const geometry_msgs::msg::Point & position, const double vel,
       const bool is_ego_yielding, const std::optional<CollisionPoint> & collision_point,
       const PlannerParam & planner_param, const lanelet::BasicPolygon2d & crosswalk_polygon,
-      const bool is_object_on_ego_path)
+      const bool is_object_away_from_path)
     {
       const bool is_stopped = vel < planner_param.stop_object_velocity;
 
@@ -202,7 +202,7 @@ class CrosswalkModule : public SceneModuleInterface
           planner_param.timeout_set_for_no_intention_to_walk, distance_to_crosswalk);
         const bool intent_to_cross =
           (now - *time_to_start_stopped).seconds() < timeout_no_intention_to_walk;
-        if (is_ego_yielding && !intent_to_cross && !is_object_on_ego_path) {
+        if (is_ego_yielding && !intent_to_cross && is_object_away_from_path) {
           collision_state = CollisionState::IGNORE;
           return;
         }
@@ -261,15 +261,16 @@ class CrosswalkModule : public SceneModuleInterface
       // update current uuids
       current_uuids_.push_back(uuid);
 
-      const bool is_object_on_ego_path =
-        boost::geometry::distance(tier4_autoware_utils::fromMsg(position).to_2d(), attention_area) <
-        0.5;
+      const bool is_object_away_from_path =
+        !attention_area.outer().empty() &&
+        boost::geometry::distance(tier4_autoware_utils::fromMsg(position).to_2d(), attention_area) >
+          0.5;
 
       // add new object
       if (objects.count(uuid) == 0) {
         if (
           has_traffic_light && planner_param.disable_yield_for_new_stopped_object &&
-          !is_object_on_ego_path) {
+          is_object_away_from_path) {
           objects.emplace(uuid, ObjectInfo{CollisionState::IGNORE});
         } else {
           objects.emplace(uuid, ObjectInfo{CollisionState::YIELD});
@@ -279,7 +280,7 @@ class CrosswalkModule : public SceneModuleInterface
       // update object state
       objects.at(uuid).transitState(
         now, position, vel, is_ego_yielding, collision_point, planner_param, crosswalk_polygon,
-        is_object_on_ego_path);
+        is_object_away_from_path);
       objects.at(uuid).collision_point = collision_point;
       objects.at(uuid).position = position;
       objects.at(uuid).classification = classification;