Avoidance by lane change design

This is a sub-module to avoid obstacles by lane change maneuver.

Purpose / Role

This module is designed as one of the obstacle avoidance features and generates a lane change path if the following conditions are satisfied.

• Exist lane changeable lanelet.
• Exist avoidance target objects on ego driving lane.

Inner-workings / Algorithms

Basically, this module is implemented by reusing the avoidance target filtering logic of the existing Static Object Avoidance Module and the path generation logic of the Normal Lane Change Module. On the other hand, the conditions under which the module is activated differ from those of a normal avoidance module.

Check that the following conditions are satisfied after the filtering process for the avoidance target.

Number of the avoidance target objects

This module is launched when the number of avoidance target objects on EGO DRIVING LANE is greater than execute_object_num. If there are no avoidance targets in the ego driving lane or their number is less than the parameter, the obstacle is avoided by normal avoidance behavior (if the normal avoidance module is registered).

Lane change end point condition

Unlike the normal avoidance module, which specifies the shift line end point, this module does not specify its end point when generating a lane change path. On the other hand, setting execute_only_when_lane_change_finish_before_object to true will activate this module only if the lane change can be completed before the avoidance target object.

Although setting the parameter to false would increase the scene of avoidance by lane change, it is assumed that sufficient lateral margin may not be ensured in some cases because the vehicle passes by the side of obstacles during the lane change.

Parameters

Changelog for package autoware_behavior_path_avoidance_by_lane_change_module

0.44.0 (2025-04-18)

0.43.0 (2025-03-21)

• Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
• chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
• Contributors: Hayato Mizushima, Yutaka Kondo

0.42.0 (2025-03-03)

• Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
• feat(autoware_utils): replace autoware_universe_utils with autoware_utils (#10191)
• feat(planning_test_manager): abstract message-specific functions (#9882)
  • abstract message-specific functions
  • include necessary header
  • adapt velocity_smoother to new test manager
  • adapt behavior_velocity_planner to new test manager
  • adapt path_optimizer to new test manager
  • fix output subscription
  • adapt behavior_path_planner to new test manager
  • adapt scenario_selector to new test manager
  • adapt freespace_planner to new test manager
  • adapt planning_validator to new test manager
  • adapt obstacle_stop_planner to new test manager
  • adapt obstacle_cruise_planner to new test manager
  • disable test for freespace_planner
  • adapt behavior_velocity_crosswalk_module to new test manager
  • adapt behavior_path_lane_change_module to new test manager
  • adapt behavior_path_avoidance_by_lane_change_module to new test manager
  • adapt behavior_path_dynamic_obstacle_avoidance_module to new test manager
  • adapt behavior_path_external_request_lane_change_module to new test manager
  • adapt behavior_path_side_shift_module to new test manager
  • adapt behavior_path_static_obstacle_avoidance_module to new test manager
  • adapt path_smoother to new test manager
  • adapt behavior_velocity_blind_spot_module to new test manager
  • adapt behavior_velocity_detection_area_module to new test manager
  • adapt behavior_velocity_intersection_module to new test manager
  • adapt behavior_velocity_no_stopping_area_module to new test manager
  • adapt behavior_velocity_run_out_module to new test manager
  • adapt behavior_velocity_stop_line_module to new test manager
  • adapt behavior_velocity_traffic_light_module to new test manager
  • adapt behavior_velocity_virtual_traffic_light_module to new test manager
  • adapt behavior_velocity_walkway_module to new test manager
  • adapt motion_velocity_planner_node_universe to new test manager
  • include necessary headers

  * Odometries -> Odometry ---------Co-authored-by: Takayuki Murooka <<takayuki5168@gmail.com>>

• Contributors: Fumiya Watanabe, Mitsuhiro Sakamoto, 心刚

0.41.2 (2025-02-19)

• chore: bump version to 0.41.1 (#10088)
• Contributors: Ryohsuke Mitsudome

0.41.1 (2025-02-10)

0.41.0 (2025-01-29)

• Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
• refactor(behavior_path_planner): common test functions (#9963)
  • feat: common test code in behavior_path_planner
  • deal with other modules
  • fix typo

  * update

• feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor (#9927) Co-authored-by: Satoshi OTA <<44889564+satoshi-ota@users.noreply.github.com>> Co-authored-by: Ryohsuke Mitsudome <<43976834+mitsudome-r@users.noreply.github.com>> Co-authored-by: satoshi-ota <<satoshi.ota928@gmail.com>>
• Contributors: Fumiya Watanabe, Mamoru Sobue, Takayuki Murooka

0.40.0 (2024-12-12)

• Merge branch 'main' into release-0.40.0
• Revert "chore(package.xml): bump version to 0.39.0 (#9587)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
• fix: fix ticket links in CHANGELOG.rst (#9588)
• chore(package.xml): bump version to 0.39.0 (#9587)
  • chore(package.xml): bump version to 0.39.0
  • fix: fix ticket links in CHANGELOG.rst

  * fix: remove unnecessary diff ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

• fix: fix ticket links in CHANGELOG.rst (#9588)
• fix(cpplint): include what you use - planning (#9570)
• 0.39.0
• update changelog
• fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
• refactor(bpp): rework steering factor interface (#9325)
  • refactor(bpp): rework steering factor interface
  • refactor(soa): rework steering factor interface
  • refactor(AbLC): rework steering factor interface
  • refactor(doa): rework steering factor interface
  • refactor(lc): rework steering factor interface
  • refactor(gp): rework steering factor interface
  • refactor(sp): rework steering factor interface
  • refactor(sbp): rework steering factor interface

  * refactor(ss): rework steering factor interface ---------

• fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
• chore(package.xml): bump version to 0.38.0 (#9266) (#9284)
  • unify package.xml version to 0.37.0
  • remove system_monitor/CHANGELOG.rst
  • add changelog

  * 0.38.0

• Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Satoshi OTA, Yutaka Kondo

0.39.0 (2024-11-25)

• fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
• fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
• chore(package.xml): bump version to 0.38.0 (#9266) (#9284)
  • unify package.xml version to 0.37.0
  • remove system_monitor/CHANGELOG.rst
  • add changelog

  * 0.38.0

• Contributors: Esteve Fernandez, Yutaka Kondo

0.38.0 (2024-11-08)

• unify package.xml version to 0.37.0
• chore(avoidance_by_lane_change, external_request_lane_change): add maintainers (#9027)
  • add maintainers to avoidance by lane change

  * add maintainers to external request lane change ---------

• fix(autoware_behavior_path_avoidance_by_lane_change_module): fix unmatchedSuppression (#8987) fix:unmatchedSuppression
• refactor(lane_change): add TransientData to store commonly used lane change-related variables. (#8954)
  • add transient data
  • reverted max lc dist in calcCurrentMinMax
  • rename
  • minor refactoring

  * update doxygen comments ---------

• feat(lane_change): modify lane change target boundary check to consider velocity (#8961)
  • check if candidate path footprint exceeds target lane boundary when lc velocity is above minimum
  • move functions to relevant module
  • suppress unused function cppcheck

  * minor change ---------

• fix(static_obstacle_avoidance, avoidance_by_lane_change): remove unused variable (#8926) remove unused variables
• feat(lane_change): improve execution condition of lane change module (#8648)
  • refactor lane change utility funcions
  • LC utility function to get distance to next regulatory element
  • don't activate LC module when close to regulatory element
  • modify threshold distance calculation
  • move regulatory element check to canTransitFailureState() function
  • always run LC module if approaching terminal point
  • use max possible LC length as threshold
  • update LC readme
  • refactor implementation
  • update readme

  * check distance to reg element for candidate path only if not near terminal start ---------

• fix(bpp): use common steering factor interface for same scene modules (#8675)
• refactor(lane_change): update lanes and its polygons only when it's updated (#7989)
  • refactor(lane_change): compute lanes and polygon only when updated

  * Revert accidental changesd This reverts commit cbfd9ae8a88b2d6c3b27b35c9a08bb824ecd5011.

  • fix spell check
  • Make a common getter for current lanes
  • add target lanes getter

  * some minor function refactoring ---------

• fix(static_obstacle_avoidance): don't automatically avoid ambiguous vehicle (#7851)
  • fix(static_obstacle_avoidance): don't automatically avoid ambiguous vehicle

  * chore(schema): update schema ---------

• fix(static_obstacle_avoidance): stop position is unstable (#7880) fix(static_obstacle_avoidance): fix stop position
• feat(safety_check): filter safety check targe objects by yaw deviation between pose and lane (#7828)
  • fix(safety_check): filter by yaw deviation to check object belongs to lane

  * fix(static_obstacle_avoidance): check yaw only when the object is moving ---------

• fix(behavior_path_planner, behavior_velocity_planner): fix redefinition errors (#7688)
• feat: add [autoware_]{.title-ref} prefix to [lanelet2_extension]{.title-ref} (#7640)
• refactor(universe_utils/motion_utils)!: add autoware namespace (#7594)
• refactor(motion_utils)!: add autoware prefix and include dir (#7539) refactor(motion_utils): add autoware prefix and include dir
• feat(autoware_universe_utils)!: rename from tier4_autoware_utils (#7538) Co-authored-by: kosuke55 <<kosuke.tnp@gmail.com>>
• refactor(behaivor_path_planner)!: rename to include/autoware/{package_name} (#7522)
  • refactor(behavior_path_planner)!: make autoware dir in include
  • refactor(start_planner): make autoware include dir
  • refactor(goal_planner): make autoware include dir
  • sampling planner module
  • fix sampling planner build
  • dynamic_avoidance
  • lc
  • side shift
  • autoware_behavior_path_static_obstacle_avoidance_module
  • autoware_behavior_path_planner_common
  • make behavior_path dir
  • pre-commit
  • fix pre-commit

  * fix build ---------

• Contributors: Go Sakayori, Kosuke Takeuchi, Ryuta Kambe, Satoshi OTA, Takayuki Murooka, Yutaka Kondo, Zulfaqar Azmi, kobayu858, mkquda

0.26.0 (2024-04-03)