Side Shift design

(For remote control) Shift the path to left or right according to an external instruction.

Overview of the Side Shift Module Process

1. Receive the required lateral offset input.
2. Update the requested_lateral_offset_ under the following conditions: a. Verify if the last update time has elapsed. b. Ensure the required lateral offset value is different from the previous one.
3. Insert the shift points into the path if the side shift module’s status is not in the SHIFTING status.

Please be aware that requested_lateral_offset_ is continuously updated with the latest values and is not queued.

Statuses of the Side Shift

The side shift has three distinct statuses. Note that during the SHIFTING status, the path cannot be updated:

1. BEFORE_SHIFT: Preparing for shift.
2. SHIFTING: Currently in the process of shifting.
3. AFTER_SHIFT: Shift completed.

Flowchart

@startuml
skinparam monochrome true
skinparam defaultTextAlignment center
skinparam noteTextAlignment left

title callback function of lateral offset input
start

partition onLateralOffset {
:**INPUT** double new_lateral_offset;

if (abs(inserted_lateral_offset_ - new_lateral_offset) < 1e-4) then ( true)
  stop
else ( false)
  if (interval from last request is too short) then ( no)
  else ( yes)
  :requested_lateral_offset_ = new_lateral_offset \n lateral_offset_change_request_ = true;
  endif
stop
@enduml

@startuml
skinparam monochrome true
skinparam defaultTextAlignment center
skinparam noteTextAlignment left

title path generation

start
partition plan {
if (lateral_offset_change_request_ == true \n && \n (shifting_status_ == BEFORE_SHIFT \n || \n shifting_status_ == AFTER_SHIFT)) then ( true)
  partition replace-shift-line {
    if ( shift line is inserted in the path ) then ( yes)
      :erase left shift line;
    else ( no)
    endif
    :calcShiftLines;
    :add new shift lines;
    :inserted_lateral_offset_ = requested_lateral_offset_ \n inserted_shift_lines_ = new_shift_line;
  }
else( false)
endif
stop
@enduml

@startuml
skinparam monochrome true
skinparam defaultTextAlignment center
skinparam noteTextAlignment left

title update state

start
partition updateState {
  :last_sp = path_shifter_.getLastShiftLine();
  note left
  get furthest shift lines
  end note
  :calculate max_planned_shift_length;
  note left
  calculate furthest shift length of previous shifted path
  end note
  if (abs(inserted_lateral_offset_ - inserted_shift_line_.end_shift_length) < 1e-4 \n && \n abs(max_planned_shift_length) < 1e-4 \n && \n abs(requested_lateral_offset_) < 1e-4) then ( true)
    :current_state_ = BT::NodeStatus::SUCCESS;
  else (false)
    if (ego's position is behind of shift line's start point) then( yes)
      :shifting_status_ = BEFORE_SHIFT;
    else ( no)
      if ( ego's position is between shift line's start point and end point) then (yes)
        :shifting_status_ = SHIFTING;
      else( no)
        :shifting_status_ = AFTER_SHIFT;
      endif
    endif
    :current_state_ = BT::NodeStatus::RUNNING;
  endif
  stop
}

@enduml

Changelog for package autoware_behavior_path_side_shift_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!: replace tier4_planning_msgs/PathWithLaneId with autoware_internal_planning_msgs/PathWithLaneId (#10023)
• 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, Ryohsuke Mitsudome, 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)
• test(autoware_behavior_path_side_shift_module): add unit tests for util function (#9540) test(side_shift_module): add unit tests
• refactor(autoware_behavior_path_side_shift_module): refactor shift length retrieval and improve path orientation handling (#9539) refactor(side_shift_module): refactor shift length retrieval and improve path orientation handling
• 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, Kyoichi Sugahara, 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
• refactor(bpp_common, motion_utils): move path shifter util functions to autoware::motion_utils (#9081)
  • remove unused function
  • mover path shifter utils function to autoware motion utils
  • minor change in license header
  • fix warning message

  * remove header file ---------

• fix(bpp): use common steering factor interface for same scene modules (#8675)
• fix(autoware_behavior_path_side_shift_module): fix unusedFunction (#8655) fix:unusedFunction
• 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, Satoshi OTA, Takayuki Murooka, Yutaka Kondo, kobayu858

0.26.0 (2024-04-03)