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autoware_behavior_path_avoidance_by_lane_change_module package from autoware_universe repo

autoware_adapi_specs autoware_agnocast_wrapper autoware_auto_common autoware_component_interface_specs_universe autoware_component_interface_tools autoware_component_interface_utils autoware_cuda_dependency_meta autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_path_distance_calculator autoware_polar_grid autoware_time_utils autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_performance_analysis autoware_control_validator autoware_external_cmd_selector autoware_joy_controller autoware_lane_departure_checker autoware_mpc_lateral_controller autoware_obstacle_collision_checker autoware_operation_mode_transition_manager autoware_pid_longitudinal_controller autoware_predicted_path_checker autoware_pure_pursuit autoware_shift_decider autoware_smart_mpc_trajectory_follower autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_control_evaluator autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter tier4_autoware_api_launch tier4_control_launch tier4_localization_launch tier4_map_launch tier4_perception_launch tier4_planning_launch tier4_sensing_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch autoware_geo_pose_projector autoware_gyro_odometer autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_ndt_scan_matcher autoware_pose2twist autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_initializer autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_tf_generator autoware_bytetrack autoware_cluster_merger autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_range_splitter autoware_object_velocity_splitter autoware_occupancy_grid_map_outlier_filter autoware_probabilistic_occupancy_grid_map autoware_radar_crossing_objects_noise_filter autoware_radar_fusion_to_detected_object autoware_radar_object_clustering autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simple_object_merger autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_mission_planner_universe autoware_obstacle_cruise_planner autoware_obstacle_stop_planner autoware_path_optimizer autoware_path_smoother autoware_planning_validator autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_run_out_module autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_diagnostics autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_livox_tag_filter autoware_carla_interface autoware_dummy_perception_publisher autoware_fault_injection autoware_learning_based_vehicle_model 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autoware_mission_details_overlay_rviz_plugin autoware_overlay_rviz_plugin autoware_string_stamped_rviz_plugin autoware_perception_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_datetime_rviz_plugin tier4_localization_rviz_plugin tier4_planning_factor_rviz_plugin tier4_planning_rviz_plugin tier4_state_rviz_plugin tier4_system_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

Package Summary

Tags No category tags.
Version 0.43.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/autowarefoundation/autoware_universe.git
VCS Type git
VCS Version main
Last Updated 2025-04-04
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The behavior_path_avoidance_by_lane_change_module package

Additional Links

No additional links.

Maintainers

  • Satoshi Ota
  • Zulfaqar Azmi
  • Fumiya Watanabe
  • Tomoya Kimura
  • Shumpei Wakabayashi
  • Tomohito Ando
  • Maxime CLEMENT
  • Alqudah Mohammad

Authors

No additional authors.

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.

avoidance_by_lane_change

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).

trigger_1

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.

trigger_2

Parameters

Name Unit Type Description Default value
execute_object_num [-] int Number of avoidance target objects on ego driving lane is greater than this value, this module will be launched. 1
execute_object_longitudinal_margin [m] double [maybe unused] Only when distance between the ego and avoidance target object is longer than this value, this module will be launched. 0.0
execute_only_when_lane_change_finish_before_object [-] bool If this flag set true, this module will be launched only when the lane change end point is NOT behind the avoidance target object. true
CHANGELOG

Changelog for package autoware_behavior_path_avoidance_by_lane_change_module

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)

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)

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