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

0.48.0 (2025-11-18)

• Merge remote-tracking branch 'origin/main' into humble

• feat(static_obstacle_avoidance): enhance overhang distance calculation with vehicle dimensions (#11487)

  • Revert "fix(static_obstacle_avoidance): ensure sufficient avoidance margin on high-curvature paths for parked vehicle avoidance (#10902)"
  • feat(static_obstacle_avoidance): enhance overhang distance calculation with vehicle dimensions
  • Updated [calcEnvelopeOverhangDistance]{.title-ref} to include vehicle front and rear overhang parameters for more accurate obstacle avoidance.
  • Introduced new utility functions for calculating lateral distances and filling midpoints of polygon edges.

  - Improved the logic for determining overhang points based on the updated vehicle dimensions. This change aims to ensure better obstacle avoidance performance by considering the vehicle's physical characteristics.

  • fix(test_utils): update overhang distance calculation in tests to include additional parameters
  • Modified calls to [calcEnvelopeOverhangDistance]{.title-ref} in multiple test cases to include new parameters for improved accuracy.

  - Ensured consistency in testing behavior for obstacle avoidance scenarios. This change aligns the test cases with the recent enhancements made to the overhang distance calculation logic.

  • refactor(static_obstacle_avoidance): update utility function calls for lateral distance and midpoint calculations
  • refactor(static_obstacle_avoidance): rename utility functions for consistency in naming conventions
  • fix(test_utils): update expected output size and values in overhang distance tests
  • Adjusted the expected output size from 5 to 8 in the [calcEnvelopeOverhangDistance]{.title-ref} test cases.

  - Updated the expected values to reflect changes in the overhang distance calculations for improved accuracy. This change ensures that the tests align with the latest logic in the overhang distance calculations. ---------

• Contributors: Ryohsuke Mitsudome, Yukinari Hisaki

0.47.1 (2025-08-14)

0.47.0 (2025-08-11)

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

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