From d26150e1a2f4a3a661bd2416b59e162185048838 Mon Sep 17 00:00:00 2001
From: danielsanchezaran <daniel.sanchez@tier4.jp>
Date: Thu, 27 Jun 2024 10:15:32 +0900
Subject: [PATCH 1/2] feat(behavior_path_planner): add yaw threshold param
 (#1040)

add yaw threshold param

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
---
 .../static_obstacle_avoidance.param.yaml                        | 1 +
 .../behavior_path_planner/goal_planner/goal_planner.param.yaml  | 1 +
 .../behavior_path_planner/lane_change/lane_change.param.yaml    | 1 +
 .../start_planner/start_planner.param.yaml                      | 2 ++
 4 files changed, 5 insertions(+)

diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml
index dd2e13892d..c6c7f4ee5c 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml
@@ -174,6 +174,7 @@
         safety_check_backward_distance: 100.0           # [m]
         hysteresis_factor_expand_rate: 1.5              # [-]
         hysteresis_factor_safe_count: 3                 # [-]
+        collision_check_yaw_diff_threshold: 3.1416      # [rad]
         # predicted path parameters
         min_velocity: 1.38                              # [m/s]
         max_velocity: 50.0                              # [m/s]
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml
index eea6d0acdc..adbda50864 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml
@@ -182,6 +182,7 @@
             time_horizon: 10.0
           # hysteresis factor to expand/shrink polygon with the value
           hysteresis_factor_expand_rate: 1.0
+          collision_check_yaw_diff_threshold: 3.1416
           # temporary
           backward_path_length: 30.0
           forward_path_length: 100.0
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
index 10757691c9..d301e96deb 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
@@ -30,6 +30,7 @@
       # safety check
       safety_check:
         allow_loose_check_for_cancel: true
+        collision_check_yaw_diff_threshold: 3.1416
         execution:
           expected_front_deceleration: -1.0
           expected_rear_deceleration: -1.0
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml
index 7d64d8c44a..13c43cd4d4 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml
@@ -143,8 +143,10 @@
             lateral_distance_max_threshold: 2.0
             longitudinal_distance_min_threshold: 3.0
             longitudinal_velocity_delta_time: 0.8
+            extended_polygon_policy: "along_path" # [-] select "rectangle" or "along_path"
           # hysteresis factor to expand/shrink polygon
           hysteresis_factor_expand_rate: 1.0
+          collision_check_yaw_diff_threshold: 1.578
           # temporary
           backward_path_length: 30.0
           forward_path_length: 100.0

From cb266c4287dcd5681a82043938dc52c43dc574b5 Mon Sep 17 00:00:00 2001
From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com>
Date: Thu, 27 Jun 2024 12:47:19 +0900
Subject: [PATCH 2/2] refactor(static_obstacle_avoidance): organize params for
 drivable lane (#1042)

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
---
 .../static_obstacle_avoidance.param.yaml                  | 8 ++++++--
 1 file changed, 6 insertions(+), 2 deletions(-)

diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml
index c6c7f4ee5c..cd5e2cb326 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml
@@ -5,9 +5,13 @@
       resample_interval_for_planning: 0.3               # [m] FOR DEVELOPER
       resample_interval_for_output: 4.0                 # [m] FOR DEVELOPER
 
+      # drivable lane setting. this module is able to use not only current lane but also right/left lane
+      # if the current lane(=lanelet::Lanelet) and the right/left lane share the boundary(=lanelet::Linestring) in HDMap.
+      # "current_lane"           : use only current lane. this module doesn't use adjacent lane to avoid object.
+      # "same_direction_lane"    : this module uses same direction lane to avoid object if need.
+      # "opposite_direction_lane": this module uses both same direction and opposite direction lane.
+      use_lane_type: "opposite_direction_lane"
       # drivable area setting
-      use_adjacent_lane: true
-      use_opposite_lane: true
       use_intersection_areas: true
       use_hatched_road_markings: true
       use_freespace_areas: true