fix(behavior_velocity_planner): ignore pass judge when external_stop is true

[tkimura4]

Signed-off-by: tomoya.kimura tomoya.kimura@tier4.jp

Description

autoware.universe/planning/behavior_velocity_planner/src/scene_module/intersection/scene_intersection.cpp

Line 146 in 23cb41a

if (current_state == State::GO && is_over_pass_judge_line && !external_stop) {

In intersection module, pass_judge is expected to be ignored when external_stop is true.
(When external_stop is true, intersection status becomes STOP regardless of the result of the pass judge)

But, in actual, sometimes intersection status does not become STOP when external_stop is true because of following line

autoware.universe/planning/behavior_velocity_planner/src/scene_module/intersection/scene_intersection.cpp

Line 126 in 23cb41a

if (stop_line_idx <= 0 || pass_judge_line_idx <= 0) {

I fixed it.

Related links

How to Test

Using the planning simulator, send the topic with status:0 for /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/input/external_intersection_states
when the vehicle is traveling at high speed just before the stop line at the intersection

Compare the behavior before and after the PR merge.

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[codecov]

Codecov Report

Merging #691 (36f05dc) into main (23cb41a) will not change coverage.
The diff coverage is 0.00%.

@@           Coverage Diff           @@
##             main     #691   +/-   ##
=======================================
  Coverage   10.59%   10.59%           
=======================================
  Files         735      735           
  Lines       51761    51761           
  Branches     6596     6596           
=======================================
  Hits         5482     5482           
  Misses      41819    41819           
  Partials     4460     4460           

Flag	Coverage Δ		*Carryforward flag
differential	6.44% <0.00%> (?)
total	10.59% <0.00%> (ø)		Carriedforward from 23cb41a

*This pull request uses carry forward flags. Click here to find out more.

Impacted Files	Coverage Δ
...c/scene_module/intersection/scene_intersection.cpp	0.00% <0.00%> (ø)

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[taikitanaka3]

LGTM