From 73c9e1727eaaa959f2af10e1649577dee85baf0b Mon Sep 17 00:00:00 2001
From: Mamoru Sobue <hilo.soblin@gmail.com>
Date: Thu, 11 Jan 2024 18:27:54 +0900
Subject: [PATCH] fix(intersection): fix bugs (#6050)

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
---
 .../config/intersection.param.yaml                              | 2 +-
 planning/behavior_velocity_intersection_module/src/manager.cpp  | 2 ++
 .../src/scene_intersection.cpp                                  | 2 +-
 3 files changed, 4 insertions(+), 2 deletions(-)

diff --git a/planning/behavior_velocity_intersection_module/config/intersection.param.yaml b/planning/behavior_velocity_intersection_module/config/intersection.param.yaml
index 6fc136c512689..4e9eb50f2a462 100644
--- a/planning/behavior_velocity_intersection_module/config/intersection.param.yaml
+++ b/planning/behavior_velocity_intersection_module/config/intersection.param.yaml
@@ -72,7 +72,7 @@
           enable: false
           creep_velocity: 0.8333
         peeking_offset: -0.5
-        occlusion_required_clearance_distance: 55
+        occlusion_required_clearance_distance: 55.0
         possible_object_bbox: [1.5, 2.5]
         ignore_parked_vehicle_speed_threshold: 0.8333
         occlusion_detection_hold_time: 1.5
diff --git a/planning/behavior_velocity_intersection_module/src/manager.cpp b/planning/behavior_velocity_intersection_module/src/manager.cpp
index e859b15b345b8..c92f16dd7b474 100644
--- a/planning/behavior_velocity_intersection_module/src/manager.cpp
+++ b/planning/behavior_velocity_intersection_module/src/manager.cpp
@@ -152,6 +152,8 @@ IntersectionModuleManager::IntersectionModuleManager(rclcpp::Node & node)
     getOrDeclareParameter<double>(node, ns + ".occlusion.creep_during_peeking.creep_velocity");
   ip.occlusion.peeking_offset =
     getOrDeclareParameter<double>(node, ns + ".occlusion.peeking_offset");
+  ip.occlusion.occlusion_required_clearance_distance =
+    getOrDeclareParameter<double>(node, ns + ".occlusion.occlusion_required_clearance_distance");
   ip.occlusion.possible_object_bbox =
     getOrDeclareParameter<std::vector<double>>(node, ns + ".occlusion.possible_object_bbox");
   ip.occlusion.ignore_parked_vehicle_speed_threshold =
diff --git a/planning/behavior_velocity_intersection_module/src/scene_intersection.cpp b/planning/behavior_velocity_intersection_module/src/scene_intersection.cpp
index 1bc7bfe04d271..dad0c194b5c9f 100644
--- a/planning/behavior_velocity_intersection_module/src/scene_intersection.cpp
+++ b/planning/behavior_velocity_intersection_module/src/scene_intersection.cpp
@@ -1195,7 +1195,7 @@ IntersectionModule::DecisionResult IntersectionModule::modifyPathVelocityDetail(
     }
   }
 
-  const double is_amber_or_red =
+  const bool is_amber_or_red =
     (traffic_prioritized_level == TrafficPrioritizedLevel::PARTIALLY_PRIORITIZED) ||
     (traffic_prioritized_level == TrafficPrioritizedLevel::FULLY_PRIORITIZED);
   auto occlusion_status =