fix(behavior_velocity_traffic_light): stop when the signal is timed out

Signed-off-by: Y.Hisaki <[email protected]>
tier4 · Jan 30, 2025 · 201e06b · 201e06b
1 parent 1a1b932
commit 201e06b
Showing 1 changed file with 4 additions and 4 deletions.
diff --git a/...g/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/scene.cpp b/...g/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/scene.cpp
@@ -114,8 +114,11 @@ bool TrafficLightModule::modifyPathVelocity(PathWithLaneId * path)
 
     first_ref_stop_path_point_index_ = stop_line.value().first;
 
+    // Check if stop is coming.
+    const bool is_stop_signal = isStopSignal();
+
     // Use V2I if available
-    if (planner_param_.v2i_use_rest_time) {
+    if (planner_param_.v2i_use_rest_time && !is_stop_signal) {
       bool is_v2i_handled = handleV2I(signed_arc_length_to_stop_point, [&]() {
         *path = insertStopPose(input_path, stop_line.value().first, stop_line.value().second);
       });
@@ -124,9 +127,6 @@ bool TrafficLightModule::modifyPathVelocity(PathWithLaneId * path)
       }
     }
 
-    // Check if stop is coming.
-    const bool is_stop_signal = isStopSignal();
-
     // Update stop signal received time
     if (is_stop_signal) {
       if (!stop_signal_received_time_ptr_) {