Revert "fix(intersection): yield stuck stop (autowarefoundation#5403)"

This reverts commit a8bb64b.
tier4 · Oct 26, 2023 · ed1cdb5 · ed1cdb5
1 parent b0bdcd0
commit ed1cdb5
Showing 1 changed file with 10 additions and 2 deletions.
diff --git a/planning/behavior_velocity_intersection_module/src/scene_intersection.cpp b/planning/behavior_velocity_intersection_module/src/scene_intersection.cpp
@@ -1041,8 +1041,16 @@ IntersectionModule::DecisionResult IntersectionModule::modifyPathVelocityDetail(
   const bool yield_stuck_detected = checkYieldStuckVehicle(
     planner_data_, path_lanelets, intersection_lanelets.first_attention_area());
   if (yield_stuck_detected && stuck_stop_line_idx_opt) {
-    const auto stuck_stop_line_idx = stuck_stop_line_idx_opt.value();
-    return IntersectionModule::YieldStuckStop{closest_idx, stuck_stop_line_idx};
+    auto stuck_stop_line_idx = stuck_stop_line_idx_opt.value();
+    if (is_private_area_ && planner_param_.stuck_vehicle.enable_private_area_stuck_disregard) {
+      if (
+        default_stop_line_idx_opt &&
+        fromEgoDist(stuck_stop_line_idx) < -planner_param_.common.stop_overshoot_margin) {
+        stuck_stop_line_idx = default_stop_line_idx_opt.value();
+      }
+    } else {
+      return IntersectionModule::YieldStuckStop{closest_idx, stuck_stop_line_idx};
+    }
   }
 
   // if attention area is empty, collision/occlusion detection is impossible