Merge pull request #574 from tier4/sync-upstream

chore: sync upstream

.github/CODEOWNERS

@@ -26,7 +26,7 @@ common/perception_utils/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp takay
 common/polar_grid/** yukihiro.saito@tier4.jp @autowarefoundation/autoware-global-codeowners
 common/qp_interface/** fumiya.watanabe@tier4.jp maxime.clement@tier4.jp satoshi.ota@tier4.jp takayuki.murooka@tier4.jp @autowarefoundation/autoware-global-codeowners
 common/rtc_manager_rviz_plugin/** taiki.tanaka@tier4.jp tomoya.kimura@tier4.jp @autowarefoundation/autoware-global-codeowners
-common/signal_processing/** ali.boyali@tier4.jp takayuki.murooka@tier4.jp @autowarefoundation/autoware-global-codeowners
+common/signal_processing/** ali.boyali@tier4.jp fumiya.watanabe@tier4.jp kyoichi.sugahara@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp @autowarefoundation/autoware-global-codeowners
 common/tensorrt_common/** daisuke.nishimatsu@tier4.jp dan.umeda@tier4.jp manato.hirabayashi@tier4.jp @autowarefoundation/autoware-global-codeowners
 common/tier4_adapi_rviz_plugin/** hiroki.ota@tier4.jp isamu.takagi@tier4.jp kosuke.takeuchi@tier4.jp @autowarefoundation/autoware-global-codeowners
 common/tier4_api_utils/** isamu.takagi@tier4.jp kahhooi.tan@tier4.jp kenji.miyake@tier4.jp makoto.yabuta@tier4.jp @autowarefoundation/autoware-global-codeowners
@@ -118,13 +118,28 @@ perception/radar_tracks_msgs_converter/** satoshi.tanaka@tier4.jp shunsuke.miura
 perception/shape_estimation/** yoshi.ri@tier4.jp yukihiro.saito@tier4.jp @autowarefoundation/autoware-global-codeowners
 perception/tensorrt_yolo/** daisuke.nishimatsu@tier4.jp @autowarefoundation/autoware-global-codeowners
 perception/tensorrt_yolox/** daisuke.nishimatsu@tier4.jp dan.umeda@tier4.jp manato.hirabayashi@tier4.jp @autowarefoundation/autoware-global-codeowners
+perception/traffic_light_arbiter/** kenzo.lobos@tier4.jp @autowarefoundation/autoware-global-codeowners
 perception/traffic_light_classifier/** shunsuke.miura@tier4.jp yukihiro.saito@tier4.jp @autowarefoundation/autoware-global-codeowners
 perception/traffic_light_map_based_detector/** yukihiro.saito@tier4.jp @autowarefoundation/autoware-global-codeowners
 perception/traffic_light_selector/** isamu.takagi@tier4.jp @autowarefoundation/autoware-global-codeowners
 perception/traffic_light_ssd_fine_detector/** daisuke.nishimatsu@tier4.jp @autowarefoundation/autoware-global-codeowners
 perception/traffic_light_visualization/** yukihiro.saito@tier4.jp @autowarefoundation/autoware-global-codeowners
 planning/behavior_path_planner/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp kyoichi.sugahara@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp yutaka.shimizu@tier4.jp zulfaqar.azmi@tier4.jp @autowarefoundation/autoware-global-codeowners
+planning/behavior_velocity_blind_spot_module/** mamoru.sobue@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp @autowarefoundation/autoware-global-codeowners
+planning/behavior_velocity_crosswalk_module/** satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp @autowarefoundation/autoware-global-codeowners
+planning/behavior_velocity_detection_area_module/** kyoichi.sugahara@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp @autowarefoundation/autoware-global-codeowners
+planning/behavior_velocity_intersection_module/** mamoru.sobue@tier4.jp shumpei.wakabayashi@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp @autowarefoundation/autoware-global-codeowners
+planning/behavior_velocity_no_drivable_lane_module/** ahmed.ebrahim@leodrive.ai @autowarefoundation/autoware-global-codeowners
+planning/behavior_velocity_no_stopping_area_module/** kosuke.takeuchi@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp @autowarefoundation/autoware-global-codeowners
+planning/behavior_velocity_occlusion_spot_module/** shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp tomoya.kimura@tier4.jp @autowarefoundation/autoware-global-codeowners
+planning/behavior_velocity_out_of_lane_module/** maxime.clement@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp @autowarefoundation/autoware-global-codeowners
 planning/behavior_velocity_planner/** kosuke.takeuchi@tier4.jp kyoichi.sugahara@tier4.jp makoto.kurihara@tier4.jp mamoru.sobue@tier4.jp maxime.clement@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takayuki.murooka@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp yutaka.shimizu@tier4.jp @autowarefoundation/autoware-global-codeowners
+planning/behavior_velocity_planner_common/** isamu.takagi@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp @autowarefoundation/autoware-global-codeowners
+planning/behavior_velocity_run_out_module/** makoto.kurihara@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp @autowarefoundation/autoware-global-codeowners
+planning/behavior_velocity_speed_bump_module/** shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp @autowarefoundation/autoware-global-codeowners
+planning/behavior_velocity_stop_line_module/** shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp yutaka.shimizu@tier4.jp @autowarefoundation/autoware-global-codeowners
+planning/behavior_velocity_traffic_light_module/** satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp @autowarefoundation/autoware-global-codeowners
+planning/behavior_velocity_virtual_traffic_light_module/** kosuke.takeuchi@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp @autowarefoundation/autoware-global-codeowners
 planning/costmap_generator/** kosuke.takeuchi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp yutaka.shimizu@tier4.jp @autowarefoundation/autoware-global-codeowners
 planning/external_velocity_limit_selector/** satoshi.ota@tier4.jp shinnosuke.hirakawa@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp @autowarefoundation/autoware-global-codeowners
 planning/freespace_planner/** kosuke.takeuchi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp yutaka.shimizu@tier4.jp @autowarefoundation/autoware-global-codeowners

planning/behavior_path_planner/include/behavior_path_planner/scene_module/avoidance/avoidance_module.hpp

@@ -346,13 +346,6 @@ class AvoidanceModule : public SceneModuleInterface
   AvoidLineArray applyPreProcessToRawShiftLines(
     AvoidLineArray & current_raw_shift_points, DebugData & debug) const;
 
-  /*
-   * @brief fill gap between two shift lines.
-   * @param original shift lines.
-   * @return processed shift lines.
-   */
-  AvoidLineArray fillShiftLineGap(const AvoidLineArray & shift_lines) const;
-
   /*
    * @brief merge negative & positive shift lines.
    * @param original shift lines.
@@ -392,15 +385,19 @@ class AvoidanceModule : public SceneModuleInterface
   /*
    * @brief add return shift line from ego position.
    * @param shift lines which the return shift is added.
-   * @param current shift lines.
    * Pick up the last shift point, which is the most farthest from ego, from the current candidate
    * avoidance points and registered points in the shifter. If the last shift length of the point is
    * non-zero, add a return-shift to center line from the point. If there is no shift point in
    * candidate avoidance points nor registered points, and base_shift > 0, add a return-shift to
    * center line from ego.
    */
-  void addReturnShiftLineFromEgo(
-    AvoidLineArray & sl_candidates, AvoidLineArray & current_raw_shift_lines) const;
+  void addReturnShiftLineFromEgo(AvoidLineArray & shift_lines) const;
+
+  /*
+   * @brief fill gap between two shift lines.
+   * @param original shift lines.
+   */
+  void fillShiftLineGap(AvoidLineArray & shift_lines) const;
 
   /*
    * @brief generate total shift line. total shift line has shift length and gradient array.
@@ -432,19 +429,6 @@ class AvoidanceModule : public SceneModuleInterface
    */
   void trimSimilarGradShiftLine(AvoidLineArray & shift_lines, const double threshold) const;
 
-  /**
-   * @brief remove short "return to center" shift point. ¯¯\_/¯¯　-> ¯¯¯¯¯¯
-   * @param input shift lines.
-   * @details
-   * Is the shift point for "return to center"?
-   *  - no : Do not trim anything.
-   *  - yes: Is it short distance enough to be removed?
-   *     - no : Do not trim anything.
-   *     - yes: Remove the "return" shift point.
-   *            Recalculate longitudinal distance and modify the shift point.
-   */
-  void trimMomentaryReturn(AvoidLineArray & shift_lines) const;
-
   /*
    * @brief trim invalid shift lines whose gradient it too large to follow.
    * @param target shift lines.