call setSafe() regardless of occlusion_stop_required

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
autowarefoundation · May 22, 2023 · 1319feb · 1319feb
1 parent 6047f1c
commit 1319feb
Showing 1 changed file with 2 additions and 3 deletions.
diff --git a/planning/behavior_velocity_intersection_module/src/scene_intersection.cpp b/planning/behavior_velocity_intersection_module/src/scene_intersection.cpp
@@ -413,10 +413,9 @@ bool IntersectionModule::modifyPathVelocity(PathWithLaneId * path, StopReason *
   if (occlusion_stop_required) {
     occlusion_first_stop_required_ = first_phase_stop_required;
     occlusion_safety_ = is_occlusion_cleared;
-  } else {
-    /* collision */
-    setSafe(collision_state_machine_.getState() == StateMachine::State::GO);
   }
+  /* collision */
+  setSafe(collision_state_machine_.getState() == StateMachine::State::GO);
 
   /* make decision */
   const double baselink2front = planner_data_->vehicle_info_.max_longitudinal_offset_m;