Commit f7d386a 1 parent 7a53913 commit f7d386a Copy full SHA for f7d386a
File tree 1 file changed +3
-3
lines changed
planning/behavior_velocity_intersection_module/src
1 file changed +3
-3
lines changed Original file line number Diff line number Diff line change @@ -41,8 +41,8 @@ IntersectionModule::getOcclusionStatus(
41
41
42
42
// ==========================================================================================
43
43
// for the convenience of Psim user, this module ignores occlusion if there has not been any
44
- // information published for the associated traffic light, and only runs collision checking on
45
- // that intersection lane.
44
+ // information published for the associated traffic light even if occlusion.enable is true,
45
+ // and only runs collision checking on that intersection lane.
46
46
//
47
47
// this is because Psim-users/scenario-files do not set traffic light information perfectly
48
48
// most of the times, and they just set bare minimum traffic information only for traffic lights
@@ -53,7 +53,7 @@ IntersectionModule::getOcclusionStatus(
53
53
// or in the simulation, then it should be kept in last_tl_valid_observation_ and this variable
54
54
// becomes false
55
55
// ==========================================================================================
56
- const bool no_tl_info_ever = !last_tl_valid_observation_.has_value ();
56
+ const bool no_tl_info_ever = (has_traffic_light_ && !last_tl_valid_observation_.has_value () );
57
57
const bool is_amber_or_red_or_no_tl_info_ever =
58
58
(traffic_prioritized_level == TrafficPrioritizedLevel::PARTIALLY_PRIORITIZED) ||
59
59
(traffic_prioritized_level == TrafficPrioritizedLevel::FULLY_PRIORITIZED) || no_tl_info_ever;
You can’t perform that action at this time.
0 commit comments