message: Agent successfully breaks
diff: @@ -85,8 +85,10 @@ BehaviorIntersectionRuleBased::CheckIntersectingVehicles(
  GetNearestPointAndS(observed_world.GetLaneCorridor()->GetCenterLine(),
  agent_pos));
  // TODO(@hart): proper angle check
  + // TODO(@hart): braking distance parameter
  if (fabs(ego_state[StateDefinition::THETA_POSITION] - agent_state[StateDefinition::THETA_POSITION]) > 1.4 &&
  - s_other > s_ego) {
  + s_other > s_ego &&
  + s_other - s_ego < 10.) {
  agent_is_intersecting = true;
  intersecting_agent = agent.second;
  break;
  @@ -132,6 +134,8 @@ Trajectory BehaviorIntersectionRuleBased::Plan(
  // if there is an intersecting vehicle
  if (std::get<1>(dist_isinter_agent)) {
  + std::get<0>(rel_values) = std::get<0>(dist_isinter_agent);
  + std::get<1>(rel_values) = 0;
  // TODO(@hart): integrate logic for breaking
  LOG(INFO) << "Agent" << observed_world.GetEgoAgentId()
  << ": Agent " << std::get<2>(dist_isinter_agent)->GetAgentId()
  