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

0.46.0 (2025-06-20)

0.45.0 (2025-05-22)

0.44.2 (2025-06-10)

0.44.1 (2025-05-01)

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)

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