po

Signed-off-by: yuki-takagi-66 <[email protected]>
autowarefoundation · Jan 20, 2025 · 4f0f928 · 4f0f928
1 parent ae436b3
commit 4f0f928
Showing 1 changed file with 7 additions and 7 deletions.
diff --git a/...vior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.hpp b/...vior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.hpp
@@ -196,14 +196,10 @@ class CrosswalkModule : public SceneModuleInterfaceWithRTC
       const PlannerParam & planner_param, const lanelet::BasicPolygon2d & crosswalk_polygon,
       const bool is_object_away_from_path)
     {
-      const bool is_stopped = vel < planner_param.stop_object_velocity;
+      const bool is_object_stopped = vel < planner_param.stop_object_velocity;
 
       // Check if the object can be ignored
-      if (is_stopped) {
-        if (collision_state == CollisionState::IGNORE) {
-          return;
-        }
-
+      if (is_object_stopped && is_ego_yielding) {
         if (!time_to_start_stopped) {
           time_to_start_stopped = now;
         }
@@ -214,14 +210,18 @@ class CrosswalkModule : public SceneModuleInterfaceWithRTC
           planner_param.timeout_set_for_no_intention_to_walk, distance_to_crosswalk);
         const bool intent_to_cross =
           (now - *time_to_start_stopped).seconds() < timeout_no_intention_to_walk;
-        if (is_ego_yielding && !intent_to_cross && is_object_away_from_path) {
+        if (!intent_to_cross && is_object_away_from_path) {
           collision_state = CollisionState::IGNORE;
           return;
         }
       } else {
         time_to_start_stopped = std::nullopt;
       }
 
+      if (is_object_stopped && collision_state == CollisionState::IGNORE) {
+        return;
+      }
+
       // Compare time to collision and vehicle
       if (collision_point) {
         // Check if ego will pass first