From 6f8695fcadcdcb2ecae3c102d19942b93433252e Mon Sep 17 00:00:00 2001 From: "Y.Hisaki" Date: Thu, 30 Jan 2025 20:35:25 +0900 Subject: [PATCH] fix(behavior_velocity_traffic_light): set prev_state_stop when using time to red signal Signed-off-by: Y.Hisaki --- .../src/scene.cpp | 2 ++ 1 file changed, 2 insertions(+) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/scene.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/scene.cpp index 7c26af75fbec6..feb65d3d65d47 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/scene.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/scene.cpp @@ -352,9 +352,11 @@ bool TrafficLightModule::handleV2I( setSafe(!should_stop); if (isActivated()) { + is_prev_state_stop_ = false; return true; } insert_stop_pose(); + is_prev_state_stop_ = true; return true; } } // namespace autoware::behavior_velocity_planner