feat(intersection): ignore occlusion on amber color too (autowarefoun…

…dation#5693) (#1054)
tier4 · Dec 1, 2023 · 8c05ced · 8c05ced
1 parent dfe50a1
commit 8c05ced
Showing 1 changed file with 4 additions and 1 deletion.
diff --git a/planning/behavior_velocity_intersection_module/src/scene_intersection.cpp b/planning/behavior_velocity_intersection_module/src/scene_intersection.cpp
@@ -1007,8 +1007,11 @@ IntersectionModule::DecisionResult IntersectionModule::modifyPathVelocityDetail(
   const double occlusion_dist_thr = std::fabs(
     std::pow(planner_param_.occlusion.max_vehicle_velocity_for_rss, 2) /
     (2 * planner_param_.occlusion.min_vehicle_brake_for_rss));
+  const double is_amber_or_red =
+    (traffic_prioritized_level == util::TrafficPrioritizedLevel::PARTIALLY_PRIORITIZED) ||
+    (traffic_prioritized_level == util::TrafficPrioritizedLevel::FULLY_PRIORITIZED);
   auto occlusion_status =
-    (enable_occlusion_detection_ && !occlusion_attention_lanelets.empty() && !is_prioritized)
+    (enable_occlusion_detection_ && !occlusion_attention_lanelets.empty() && !is_amber_or_red)
       ? getOcclusionStatus(
           *planner_data_->occupancy_grid, occlusion_attention_area, adjacent_lanelets,
           first_attention_area, interpolated_path_info, occlusion_attention_divisions,