From 9b7a16a82eab836286b93b1e70526c0bab8b7479 Mon Sep 17 00:00:00 2001
From: "Takagi, Isamu" <43976882+isamu-takagi@users.noreply.github.com>
Date: Wed, 27 Mar 2024 11:40:40 +0900
Subject: [PATCH 1/3] feat: add dummy doors for planning simulator (#921)

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
---
 .../launch/components/tier4_simulator_component.launch.xml      | 2 ++
 autoware_launch/launch/planning_simulator.launch.xml            | 2 ++
 2 files changed, 4 insertions(+)

diff --git a/autoware_launch/launch/components/tier4_simulator_component.launch.xml b/autoware_launch/launch/components/tier4_simulator_component.launch.xml
index a8503818cd..c2f2b7ca92 100644
--- a/autoware_launch/launch/components/tier4_simulator_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_simulator_component.launch.xml
@@ -3,6 +3,7 @@
   <arg name="launch_dummy_perception"/>
   <arg name="launch_dummy_vehicle"/>
   <arg name="launch_dummy_localization"/>
+  <arg name="launch_dummy_doors"/>
   <arg name="launch_diagnostic_converter"/>
   <arg name="perception/enable_detection_failure"/>
   <arg name="perception/enable_object_recognition"/>
@@ -17,6 +18,7 @@
     <arg name="launch_dummy_perception" value="$(var launch_dummy_perception)"/>
     <arg name="launch_dummy_vehicle" value="$(var launch_dummy_vehicle)"/>
     <arg name="launch_dummy_localization" value="$(var launch_dummy_localization)"/>
+    <arg name="launch_dummy_doors" value="$(var launch_dummy_doors)"/>
     <arg name="launch_diagnostic_converter" value="$(var launch_diagnostic_converter)"/>
     <arg name="perception/enable_detection_failure" value="$(var perception/enable_detection_failure)"/>
     <arg name="perception/enable_object_recognition" value="$(var perception/enable_object_recognition)"/>
diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml
index bc53dfa834..b389abf61c 100644
--- a/autoware_launch/launch/planning_simulator.launch.xml
+++ b/autoware_launch/launch/planning_simulator.launch.xml
@@ -16,6 +16,7 @@
   <let name="rviz_initial_pose_auto_fix_target" value="vector_map"/>
   <let name="gnss_initial_pose_auto_fix_target" value="vector_map"/>
   <!-- System -->
+  <arg name="launch_dummy_doors" default="true" description="launch dummy doors simulation"/>
   <arg name="launch_system_monitor" default="false" description="launch system monitor"/>
   <arg name="launch_dummy_diag_publisher" default="false" description="launch dummy diag publisher"/>
   <!-- Scenario simulation -->
@@ -86,6 +87,7 @@
       <arg name="launch_dummy_perception" value="$(var launch_dummy_perception)"/>
       <arg name="launch_dummy_vehicle" value="$(var launch_dummy_vehicle)"/>
       <arg name="launch_dummy_localization" value="$(var launch_dummy_localization)"/>
+      <arg name="launch_dummy_doors" value="$(var launch_dummy_doors)"/>
       <arg name="launch_diagnostic_converter" value="$(var launch_diagnostic_converter)"/>
       <arg name="perception/enable_detection_failure" value="$(var perception/enable_detection_failure)"/>
       <arg name="perception/enable_object_recognition" value="$(var perception/enable_object_recognition)"/>

From 5375164d21f3a5b127e7f825e519bf57fb1581eb Mon Sep 17 00:00:00 2001
From: danielsanchezaran <daniel.sanchez@tier4.jp>
Date: Wed, 27 Mar 2024 13:46:00 +0900
Subject: [PATCH 2/3] feat(run_out_module): new params for run out, add ego cut
 lane (#935)

* new params for run out

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

* rename param

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

* update description

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

---------

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
---
 .../behavior_velocity_planner/run_out.param.yaml                | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml
index 3af5164a52..9af4442778 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml
@@ -4,6 +4,7 @@
       detection_method: "Object"  # [-] candidate: Object, ObjectWithoutPath, Points
       use_partition_lanelet: true # [-] whether to use partition lanelet map data
       suppress_on_crosswalk: true # [-] whether to suppress on crosswalk lanelet
+      use_ego_cut_line: true      # [-] filter obstacles that pass the backside of ego: if a dynamic obstacle's predicted path intersects this line, it is ignored
       specify_decel_jerk: true    # [-] whether to specify jerk when ego decelerates
       stop_margin: 2.5            # [m] the vehicle decelerates to be able to stop with this margin
       passing_margin: 1.1         # [m] the vehicle begins to accelerate if the vehicle's front in predicted position is ahead of the obstacle + this margin
@@ -11,6 +12,7 @@
       detection_distance: 45.0    # [m] ahead distance from ego to detect the obstacles
       detection_span: 1.0         # [m] calculate collision with this span to reduce calculation time
       min_vel_ego_kmph: 3.6       # [km/h] min velocity to calculate time to collision
+      ego_cut_line_length: 3.0    # The width of the ego's cut line
 
       # Parameter to create abstracted dynamic obstacles
       dynamic_obstacle:

From 954145a38aeba3b7076f9006eedd34b1c76951f3 Mon Sep 17 00:00:00 2001
From: danielsanchezaran <daniel.sanchez@tier4.jp>
Date: Wed, 27 Mar 2024 15:54:51 +0900
Subject: [PATCH 3/3] feat(run_out): add obstacle types to run out (#936)

add obstacle types to run out

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
---
 .../behavior_velocity_planner/run_out.param.yaml                 | 1 +
 1 file changed, 1 insertion(+)

diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml
index 9af4442778..898f303a75 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml
@@ -2,6 +2,7 @@
   ros__parameters:
     run_out:
       detection_method: "Object"  # [-] candidate: Object, ObjectWithoutPath, Points
+      target_obstacle_types: ["PEDESTRIAN", "BICYCLE", "MOTORCYCLE"] # [-] Obstacle types considered by this module
       use_partition_lanelet: true # [-] whether to use partition lanelet map data
       suppress_on_crosswalk: true # [-] whether to suppress on crosswalk lanelet
       use_ego_cut_line: true      # [-] filter obstacles that pass the backside of ego: if a dynamic obstacle's predicted path intersects this line, it is ignored