From f432d09f458cd63360a1cb662cebd8739c855a04 Mon Sep 17 00:00:00 2001
From: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com>
Date: Mon, 25 Dec 2023 10:24:32 +0900
Subject: [PATCH] feat(behavior_path_planner): enable lane change in crosswalk
 and intersection (#720)

---
 .../behavior_path_planner/lane_change/lane_change.param.yaml  | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
index 358a8261bd..444701a091 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
@@ -86,8 +86,8 @@
 
       # lane change regulations
       regulation:
-        crosswalk: false
-        intersection: false
+        crosswalk: true
+        intersection: true
         traffic_light: true
 
       # ego vehicle stuck detection