fix(intersection): do not react to rtc for occlusion anymore if occlusion.enable is false (#3979)

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>

Author: soblin

planning/behavior_velocity_intersection_module/src/scene_intersection.cpp

@@ -330,7 +330,9 @@ void reactRTCApprovalByDecisionResult(
         path->points.at(stop_line_idx).point.pose, VelocityFactor::INTERSECTION);
     }
   }
-  if (!rtc_occlusion_approved && !decision_result.is_detection_area_empty) {
+  if (
+    !rtc_occlusion_approved && !decision_result.is_detection_area_empty &&
+    planner_param.occlusion.enable) {
     const auto occlusion_stop_line_idx = decision_result.stop_lines.occlusion_peeking_stop_line;
     planning_utils::setVelocityFromIndex(occlusion_stop_line_idx, 0.0, path);
     debug_data->occlusion_stop_wall_pose =
@@ -373,7 +375,7 @@ void reactRTCApprovalByDecisionResult(
         path->points.at(stop_line_idx).point.pose, VelocityFactor::INTERSECTION);
     }
   }
-  if (!rtc_occlusion_approved) {
+  if (!rtc_occlusion_approved && planner_param.occlusion.enable) {
     const auto stop_line_idx = decision_result.stop_lines.occlusion_peeking_stop_line;
     planning_utils::setVelocityFromIndex(stop_line_idx, 0.0, path);
     debug_data->occlusion_stop_wall_pose =
@@ -416,7 +418,7 @@ void reactRTCApprovalByDecisionResult(
         path->points.at(stop_line_idx).point.pose, VelocityFactor::INTERSECTION);
     }
   }
-  if (!rtc_occlusion_approved) {
+  if (!rtc_occlusion_approved && planner_param.occlusion.enable) {
     if (planner_param.occlusion.enable_creeping) {
       const size_t occlusion_peeking_stop_line = decision_result.occlusion_stop_line_idx;
       const size_t closest_idx = decision_result.stop_lines.closest_idx;
@@ -455,7 +457,7 @@ void reactRTCApprovalByDecisionResult(
     rtc_occlusion_approved);
   // NOTE: creep_velocity should be inserted first at closest_idx if !rtc_default_approved
 
-  if (!rtc_occlusion_approved) {
+  if (!rtc_occlusion_approved && planner_param.occlusion.enable) {
     const size_t occlusion_peeking_stop_line =
       decision_result.stop_lines.occlusion_peeking_stop_line;
     if (planner_param.occlusion.enable_creeping) {
@@ -477,7 +479,7 @@ void reactRTCApprovalByDecisionResult(
         path->points.at(occlusion_peeking_stop_line).point.pose, VelocityFactor::INTERSECTION);
     }
   }
-  if (!rtc_default_approved) {
+  if (!rtc_default_approved && planner_param.occlusion.enable) {
     const auto stop_line_idx = decision_result.stop_lines.default_stop_line;
     planning_utils::setVelocityFromIndex(stop_line_idx, 0.0, path);
     debug_data->collision_stop_wall_pose =
@@ -520,7 +522,7 @@ void reactRTCApprovalByDecisionResult(
         path->points.at(stop_line_idx).point.pose, VelocityFactor::INTERSECTION);
     }
   }
-  if (!rtc_occlusion_approved) {
+  if (!rtc_occlusion_approved && planner_param.occlusion.enable) {
     const auto stop_line_idx = decision_result.occlusion_stop_line_idx;
     planning_utils::setVelocityFromIndex(stop_line_idx, 0.0, path);
     debug_data->occlusion_stop_wall_pose =
@@ -562,7 +564,7 @@ void reactRTCApprovalByDecisionResult(
         path->points.at(stop_line_idx).point.pose, VelocityFactor::INTERSECTION);
     }
   }
-  if (!rtc_occlusion_approved) {
+  if (!rtc_occlusion_approved && planner_param.occlusion.enable) {
     const auto stop_line_idx = decision_result.stop_lines.occlusion_peeking_stop_line;
     planning_utils::setVelocityFromIndex(stop_line_idx, 0.0, path);
     debug_data->occlusion_stop_wall_pose =