From f3fb2c15b6d8d17ef6c70a8178f6ac632e9d84e5 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Wed, 25 Oct 2023 20:27:30 +0900 Subject: [PATCH] fix(intersection): yield stuck stop (#5403) Signed-off-by: Takayuki Murooka --- .../src/scene_intersection.cpp | 12 ++---------- 1 file changed, 2 insertions(+), 10 deletions(-) diff --git a/planning/behavior_velocity_intersection_module/src/scene_intersection.cpp b/planning/behavior_velocity_intersection_module/src/scene_intersection.cpp index 334f19db9d380..488247e115451 100644 --- a/planning/behavior_velocity_intersection_module/src/scene_intersection.cpp +++ b/planning/behavior_velocity_intersection_module/src/scene_intersection.cpp @@ -1040,16 +1040,8 @@ IntersectionModule::DecisionResult IntersectionModule::modifyPathVelocityDetail( const bool yield_stuck_detected = checkYieldStuckVehicle( planner_data_, path_lanelets, intersection_lanelets.first_attention_area()); if (yield_stuck_detected && stuck_stop_line_idx_opt) { - auto stuck_stop_line_idx = stuck_stop_line_idx_opt.value(); - if (is_private_area_ && planner_param_.stuck_vehicle.enable_private_area_stuck_disregard) { - if ( - default_stop_line_idx_opt && - fromEgoDist(stuck_stop_line_idx) < -planner_param_.common.stop_overshoot_margin) { - stuck_stop_line_idx = default_stop_line_idx_opt.value(); - } - } else { - return IntersectionModule::YieldStuckStop{closest_idx, stuck_stop_line_idx}; - } + const auto stuck_stop_line_idx = stuck_stop_line_idx_opt.value(); + return IntersectionModule::YieldStuckStop{closest_idx, stuck_stop_line_idx}; } // if attention area is empty, collision/occlusion detection is impossible