From 8fc38979a1e8c9de18cfeb902c90783aa77cbc40 Mon Sep 17 00:00:00 2001
From: Mamoru Sobue <mamoru.sobue@tier4.jp>
Date: Tue, 22 Oct 2024 12:47:30 +0900
Subject: [PATCH] PR9119

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
---
 .../src/scene_intersection.cpp                                | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/planning/behavior_velocity_intersection_module/src/scene_intersection.cpp b/planning/behavior_velocity_intersection_module/src/scene_intersection.cpp
index ea51da783ea1e..b4d75d6c7734b 100644
--- a/planning/behavior_velocity_intersection_module/src/scene_intersection.cpp
+++ b/planning/behavior_velocity_intersection_module/src/scene_intersection.cpp
@@ -1293,6 +1293,10 @@ IntersectionModule::PassJudgeStatus IntersectionModule::isOverPassJudgeLinesStat
         std::get<intersection::OccludedAbsenceTrafficLight>(prev_decision_result_);
       return !state.collision_detected;
     }
+    if (std::holds_alternative<intersection::FullyPrioritized>(prev_decision_result_)) {
+      const auto & prev_decision = std::get<intersection::FullyPrioritized>(prev_decision_result_);
+      return !prev_decision.collision_detected;
+    }
     return false;
   }();