fix(intersection): fix/formalize pass judge behavior #5272
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…ut traffic light when occlusion feature is off Signed-off-by: Mamoru Sobue <[email protected]>
Signed-off-by: Mamoru Sobue <[email protected]>
Signed-off-by: Mamoru Sobue <[email protected]>
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This reverts commit c964c17.
Signed-off-by: Mamoru Sobue <[email protected]>
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Description
When occlusion feature is on, pass judge line is generated at the same position as occlusion peeking limit line to continue collision checking during peeking. And if the intersection lane has no traffic light, peeking distance is larger than normal. By mistake, when the occlusion feature is off, pass judge line is still generated at the position of peeking limit line, which causes unnecessary stop inside intersection lane if the lane has no traffic light.
launcher PR: autowarefoundation/autoware_launch#641
Related links
Tests performed
evaluator:
Psim
pass_judge_line.-2023-10-11_17.04.01.mp4
Notes for reviewers
Interface changes
none.
Effects on system behavior
none.
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