Merge branch 'feat/lane-change-not-on-crosswalk' into feat/lane_chang…

…e_stuck_detection

planning/behavior_path_planner/config/lane_change/lane_change.param.yaml

@@ -55,6 +55,11 @@
         motorcycle: true
         pedestrian: true
 
+      # lane change regulations
+      regulation:
+        crosswalk: false
+        intersection: false
+
       # collision check
       enable_prepare_segment_collision_check: true
       prepare_segment_ignore_object_velocity_thresh: 0.1 # [m/s]

planning/behavior_path_planner/docs/behavior_path_planner_lane_change_design.md

@@ -186,6 +186,11 @@ The following figure illustrates when the lane is blocked in multiple lane chang
 
 ![multiple-lane-changes](../image/lane_change/lane_change-when_cannot_change_lanes.png)
 
+### Lane change regulations
+
+If you want to regulate lane change on crosswalks or intersections, the lane change module finds a lane change path excluding it includes crosswalks or intersections.
+To regulate lane change on crosswalks or intersections, change `regulation.crosswalk` or `regulation.intersection` to `true`.
+
 ### Aborting lane change
 
 The abort process may result in three different outcome; Cancel, Abort and Stop/Cruise.
@@ -295,6 +300,13 @@ The following parameters are configurable in `lane_change.param.yaml`.
 | `target_object.motorcycle`                  | [-]    | boolean | Include motorcycle objects for safety check                                                                     | true               |
 | `target_object.pedestrian`                  | [-]    | boolean | Include pedestrian objects for safety check                                                                     | true               |
 
+### Lane change regulations
+
+| Name                      | Unit | Type    | Description                           | Default value |
+| :------------------------ | ---- | ------- | ------------------------------------- | ------------- |
+| `regulation.crosswalk`    | [-]  | boolean | Regulate lane change on crosswalks    | false         |
+| `regulation.intersection` | [-]  | boolean | Regulate lane change on intersections | false         |
+
 ### Collision checks during lane change
 
 The following parameters are configurable in `behavior_path_planner.param.yaml` and `lane_change.param.yaml`.

planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/normal.hpp

@@ -108,7 +108,7 @@ class NormalLaneChange : public LaneChangeBase
     const lanelet::ConstLanelets & current_lanes,
     const lanelet::ConstLanelets & target_lanes) const;
 
-  double calcPrepareDuration(
+  std::vector<double> calcPrepareDuration(
     const lanelet::ConstLanelets & current_lanes,
     const lanelet::ConstLanelets & target_lanes) const;
 
@@ -129,6 +129,12 @@ class NormalLaneChange : public LaneChangeBase
     const LaneChangePath & path, const lanelet::ConstLanelets & current_lanes,
     const lanelet::ConstLanelets & target_lanes, const Direction direction = Direction::NONE) const;
 
+  bool hasEnoughLengthToCrosswalk(
+    const LaneChangePath & path, const lanelet::ConstLanelets & current_lanes) const;
+
+  bool hasEnoughLengthToIntersection(
+    const LaneChangePath & path, const lanelet::ConstLanelets & current_lanes) const;
+
   bool getLaneChangePaths(
     const lanelet::ConstLanelets & current_lanes, const lanelet::ConstLanelets & target_lanes,
     Direction direction, LaneChangePaths * candidate_paths,

planning/behavior_path_planner/include/behavior_path_planner/utils/lane_change/lane_change_module_data.hpp

@@ -66,15 +66,12 @@ struct LaneChangeParameters
   bool check_objects_on_other_lanes{true};
   bool use_all_predicted_path{false};
 
-  // true by default
-  bool check_car{true};         // check object car
-  bool check_truck{true};       // check object truck
-  bool check_bus{true};         // check object bus
-  bool check_trailer{true};     // check object trailer
-  bool check_unknown{true};     // check object unknown
-  bool check_bicycle{true};     // check object bicycle
-  bool check_motorcycle{true};  // check object motorbike
-  bool check_pedestrian{true};  // check object pedestrian
+  // regulatory elements
+  bool regulate_on_crosswalk{false};
+  bool regulate_on_intersection{false};
+
+  // true by default for all objects
+  utils::path_safety_checker::ObjectTypesToCheck object_types_to_check;
 
   // safety check
   utils::path_safety_checker::RSSparams rss_params;

planning/behavior_path_planner/include/behavior_path_planner/utils/lane_change/utils.hpp

@@ -142,8 +142,6 @@ lanelet::ConstLanelets getBackwardLanelets(
   const RouteHandler & route_handler, const lanelet::ConstLanelets & target_lanes,
   const Pose & current_pose, const double backward_length);
 
-bool isTargetObjectType(const PredictedObject & object, const LaneChangeParameters & parameters);
-
 double calcLateralBufferForFiltering(const double vehicle_width, const double lateral_buffer = 0.0);
 
 double calcLateralBufferForFiltering(const double vehicle_width, const double lateral_buffer);

planning/behavior_path_planner/include/behavior_path_planner/utils/path_safety_checker/objects_filtering.hpp

@@ -187,6 +187,20 @@ TargetObjectsOnLane createTargetObjectsOnLane(
   const PredictedObjects & filtered_objects,
   const std::shared_ptr<ObjectsFilteringParams> & params);
 
+/**
+ * @brief Determines whether the predicted object type matches any of the target object types
+ * specified by the user.
+ *
+ * @param object The predicted object whose type is to be checked.
+ * @param target_object_types A structure containing boolean flags for each object type that the
+ * user is interested in checking.
+ *
+ * @return Returns true if the predicted object's highest probability label matches any of the
+ * specified target object types.
+ */
+bool isTargetObjectType(
+  const PredictedObject & object, const ObjectTypesToCheck & target_object_types);
+
 }  // namespace behavior_path_planner::utils::path_safety_checker
 
 #endif  // BEHAVIOR_PATH_PLANNER__UTILS__PATH_SAFETY_CHECKER__OBJECTS_FILTERING_HPP_

planning/behavior_path_planner/src/scene_module/lane_change/manager.cpp

@@ -75,6 +75,11 @@ LaneChangeModuleManager::LaneChangeModuleManager(
   p.use_all_predicted_path =
     getOrDeclareParameter<bool>(*node, parameter("use_all_predicted_path"));
 
+  // lane change regulations
+  p.regulate_on_crosswalk = getOrDeclareParameter<bool>(*node, parameter("regulation.crosswalk"));
+  p.regulate_on_intersection =
+    getOrDeclareParameter<bool>(*node, parameter("regulation.intersection"));
+
   p.rss_params.longitudinal_distance_min_threshold = getOrDeclareParameter<double>(
     *node, parameter("safety_check.longitudinal_distance_min_threshold"));
   p.rss_params.longitudinal_velocity_delta_time = getOrDeclareParameter<double>(
@@ -108,14 +113,16 @@ LaneChangeModuleManager::LaneChangeModuleManager(
   // target object
   {
     std::string ns = "lane_change.target_object.";
-    p.check_car = getOrDeclareParameter<bool>(*node, ns + "car");
-    p.check_truck = getOrDeclareParameter<bool>(*node, ns + "truck");
-    p.check_bus = getOrDeclareParameter<bool>(*node, ns + "bus");
-    p.check_trailer = getOrDeclareParameter<bool>(*node, ns + "trailer");
-    p.check_unknown = getOrDeclareParameter<bool>(*node, ns + "unknown");
-    p.check_bicycle = getOrDeclareParameter<bool>(*node, ns + "bicycle");
-    p.check_motorcycle = getOrDeclareParameter<bool>(*node, ns + "motorcycle");
-    p.check_pedestrian = getOrDeclareParameter<bool>(*node, ns + "pedestrian");
+    p.object_types_to_check.check_car = getOrDeclareParameter<bool>(*node, ns + "car");
+    p.object_types_to_check.check_truck = getOrDeclareParameter<bool>(*node, ns + "truck");
+    p.object_types_to_check.check_bus = getOrDeclareParameter<bool>(*node, ns + "bus");
+    p.object_types_to_check.check_trailer = getOrDeclareParameter<bool>(*node, ns + "trailer");
+    p.object_types_to_check.check_unknown = getOrDeclareParameter<bool>(*node, ns + "unknown");
+    p.object_types_to_check.check_bicycle = getOrDeclareParameter<bool>(*node, ns + "bicycle");
+    p.object_types_to_check.check_motorcycle =
+      getOrDeclareParameter<bool>(*node, ns + "motorcycle");
+    p.object_types_to_check.check_pedestrian =
+      getOrDeclareParameter<bool>(*node, ns + "pedestrian");
   }
 
   // lane change cancel