fix(lane_change): collision check for prepare in intersection (#930)

Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]>
autowarefoundation · Apr 3, 2024 · d475f03 · d475f03
1 parent d712ca8
commit d475f03
Showing 1 changed file with 3 additions and 1 deletion.
diff --git a/...g/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml b/...g/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
@@ -78,7 +78,9 @@
         pedestrian: true
 
       # collision check
-      enable_prepare_segment_collision_check: false
+      enable_collision_check_for_prepare_phase:
+        general_lanes: false
+        intersection: true
       prepare_segment_ignore_object_velocity_thresh: 0.1 # [m/s]
       check_objects_on_current_lanes: false
       check_objects_on_other_lanes: false