diff --git a/src/turtlebot3_autorace_2020/turtlebot3_autorace_core/nodes/all_core_mode_decider b/src/turtlebot3_autorace_2020/turtlebot3_autorace_core/nodes/all_core_mode_decider
index 2e9e704..4486e27 100755
--- a/src/turtlebot3_autorace_2020/turtlebot3_autorace_core/nodes/all_core_mode_decider
+++ b/src/turtlebot3_autorace_2020/turtlebot3_autorace_core/nodes/all_core_mode_decider
@@ -35,9 +35,9 @@
         self.pub_decided_mode = rospy.Publisher('/core/decided_mode', UInt8, queue_size=1)
         self.InvokedObject = Enum('InvokedObject', 'traffic_light traffic_sign')
         self.TrafficSign   = Enum('TrafficSign', 'intersection left right construction stop parking tunnel')
-#       self.CurrentMode   = Enum('CurrentMode', 'idle lane_following traffic_light intersection construction parking level_crossing tunnel')
         self.CurrentMode   = Enum('CurrentMode', 'idle lane_following traffic_light intersection construction parking level_crossing tunnel lane1 lane2 lane3 lane4 lane5')
-        self.fnInitMode()
+        self.current_mode = self.CurrentMode.lane_following.value
+        self.fnPublishMode()
         self.countintersection = 0
       # Invoke if traffic light is detected
     def cbInvokedByTrafficLight(self, invoke_type_msg):
@@ -59,9 +59,6 @@
             rospy.loginfo("mode Init Mode")
         self.fnPublishMode()
         
-    def fnInitMode(self):                               # starts only when the program is started initially or any mission is completed
-        self.current_mode = self.CurrentMode.lane_following.value
-        self.fnPublishMode()
     def fnDecideMode(self, invoked_object, msg_data):   # starts only when the traffic sign / traffic light is detected & current_mode is lane_following
         rospy.loginfo("mode ------------------------------")
         rospy.loginfo("mode current_mode=%d",self.current_mode)
@@ -74,15 +71,15 @@
             if msg_data.data == self.TrafficSign.intersection.value:
                 self.countintersection = 0
                 rospy.loginfo("mode detect sign : intersection")
-                self.current_mode = self.CurrentMode.lane2.value
+                self.current_mode = self.CurrentMode.lane1.value
             elif msg_data.data == self.TrafficSign.left.value:
                 self.countintersection = self.countintersection - 1
                 rospy.loginfo("mode detect sign : intersection left %d",self.countintersection)
-                self.current_mode = self.CurrentMode.intersection.value
+                self.current_mode = self.CurrentMode.lane1.value
             elif msg_data.data == self.TrafficSign.right.value:
                 self.countintersection = self.countintersection + 1
                 rospy.loginfo("mode detect sign : inteersection right %d",self.countintersection)
-                self.current_mode = self.CurrentMode.intersection.value
+                self.current_mode = self.CurrentMode.lane1.value
             elif msg_data.data == self.TrafficSign.construction.value:
                 rospy.loginfo("mode detect sign : construction")
                 self.current_mode = self.CurrentMode.construction.value
@@ -95,7 +92,7 @@
             elif msg_data.data == self.TrafficSign.tunnel.value:
                 rospy.loginfo("mode detect sign : tunnel")
                 self.current_mode = self.CurrentMode.tunnel.value
-            if self.current_mode == self.CurrentMode.intersection.value and abs(self.countintersection) > 2:
+            if self.current_mode == self.CurrentMode.lane1.value and abs(self.countintersection) > 2:
                 rospy.sleep(1)
                 rospy.loginfo("mode intersection and count intersection")
                 self.current_mode = self.CurrentMode.construction.value
diff --git a/src/turtlebot3_autorace_2020/turtlebot3_autorace_detect/nodes/.detect_intersection_sign.swp b/src/turtlebot3_autorace_2020/turtlebot3_autorace_detect/nodes/.detect_intersection_sign.swp
new file mode 100644
index 0000000..6f30bdf
--- /dev/null
+++ b/src/turtlebot3_autorace_2020/turtlebot3_autorace_detect/nodes/.detect_intersection_sign.swp
Binary files differ