fix(behavior_velocity_planner): fix safety status in intersection mod…

…ule (tier4#1180)

Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>

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

@@ -185,7 +185,7 @@ bool IntersectionModule::modifyPathVelocity(
   const bool is_stop_required = is_stuck || !has_traffic_light_ || turn_direction_ != "straight";
   const double base_link2front = planner_data_->vehicle_info_.max_longitudinal_offset_m;
 
-  setSafe(!(is_stop_required && is_entry_prohibited) || (state_machine_.getState() == State::GO));
+  setSafe(!(is_stop_required && is_entry_prohibited));
   setDistance(tier4_autoware_utils::calcSignedArcLength(
     input_path.points, planner_data_->current_pose.pose.position,
     input_path.points.at(stop_line_idx).point.pose.position));