From 84995ec3ca4e201ed1d800c0eeb967de25298f84 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Wed, 11 Oct 2023 18:37:33 +0900 Subject: [PATCH] feat(intersection): not detect stuck vehicle when turning left (#5268) Signed-off-by: Takayuki Murooka --- .../src/scene_intersection.cpp | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/planning/behavior_velocity_intersection_module/src/scene_intersection.cpp b/planning/behavior_velocity_intersection_module/src/scene_intersection.cpp index fb35834ab39a5..26bc8210b3bad 100644 --- a/planning/behavior_velocity_intersection_module/src/scene_intersection.cpp +++ b/planning/behavior_velocity_intersection_module/src/scene_intersection.cpp @@ -1213,6 +1213,11 @@ IntersectionModule::DecisionResult IntersectionModule::modifyPathVelocityDetail( bool IntersectionModule::checkStuckVehicle( const std::shared_ptr & planner_data, const util::PathLanelets & path_lanelets) { + // NOTE: No need to stop for stuck vehicle when the ego will turn left. + if (turn_direction_ == std::string("left")) { + return false; + } + const auto & objects_ptr = planner_data->predicted_objects; // considering lane change in the intersection, these lanelets are generated from the path