fix(lane_change): collision check for prepare in intersection (autowa…

…refoundation#930) Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
4swinv · Apr 9, 2024 · a628152 · a628152
1 parent 2b3350c
commit a628152
Showing 1 changed file with 3 additions and 1 deletion.
diff --git a/...g/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml b/...g/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
@@ -78,7 +78,9 @@
         pedestrian: true
 
       # collision check
-      enable_prepare_segment_collision_check: false
+      enable_collision_check_for_prepare_phase:
+        general_lanes: false
+        intersection: true
       prepare_segment_ignore_object_velocity_thresh: 0.1 # [m/s]
       check_objects_on_current_lanes: false
       check_objects_on_other_lanes: false