rename ahead_stopped -> side_stopped

Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp>
autowarefoundation · Mar 10, 2025 · 90f6046 · 90f6046
1 parent 9708f15
commit 90f6046
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Showing 5 changed files with 10 additions and 10 deletions.
diff --git a/...tion_velocity_planner/autoware_motion_velocity_obstacle_cruise_module/README.md b/...tion_velocity_planner/autoware_motion_velocity_obstacle_cruise_module/README.md
@@ -41,7 +41,7 @@ The obstacles meeting the following condition are determined as obstacles for yi
 
 - The object type is for cruising according to `obstacle_filtering.object_type.*` and it is moving with a speed greater than `obstacle_filtering.yield.stopped_obstacle_velocity_threshold`.
 - The object is not crossing the ego's trajectory (\*1).
-- There is another object of type `obstacle_filtering.object_type.ahead_stopped` stopped in front of the moving obstacle.
+- There is another object of type `obstacle_filtering.object_type.side_stopped` stopped in front of the moving obstacle.
 - The lateral distance (using the ego's trajectory as reference) between both obstacles is less than `obstacle_filtering.yield.max_lat_dist_between_obstacles`
 - Both obstacles, moving and stopped, are within `obstacle_filtering.yield.lat_distance_threshold` and `obstacle_filtering.yield.lat_distance_threshold` + `obstacle_filtering.yield.max_lat_dist_between_obstacles` lateral distance from the ego's trajectory respectively.
 

diff --git a/...planner/autoware_motion_velocity_obstacle_cruise_module/config/obstacle_cruise.param.yaml b/...planner/autoware_motion_velocity_obstacle_cruise_module/config/obstacle_cruise.param.yaml
@@ -96,7 +96,7 @@
             pedestrian: false
 
           # If an object does not have this label, the ego vehicle does not assume that the yielded obstacle will cut in due to the object.
-          ahead_stopped:
+          side_stopped:
             unknown: false
             car: true
             truck: true

diff --git a/...ty_planner/autoware_motion_velocity_obstacle_cruise_module/src/obstacle_cruise_module.cpp b/...ty_planner/autoware_motion_velocity_obstacle_cruise_module/src/obstacle_cruise_module.cpp
@@ -720,11 +720,11 @@ std::optional<CruiseObstacle> ObstacleCruiseModule::create_yield_cruise_obstacle
     return std::nullopt;
   }
 
-  if (!is_ahead_stopped_obstacle(stopped_object->predicted_object.classification.at(0).label)) {
+  if (!is_side_stopped_obstacle(stopped_object->predicted_object.classification.at(0).label)) {
     RCLCPP_DEBUG(
       logger_,
       "[Cruise] Ignore yield obstacle (%s) since the corresponding stopped object type is not "
-      "designated as ahead_stopped.",
+      "designated as side_stopped.",
       obj_uuid_str.substr(0, 4).c_str());
     return std::nullopt;
   }
@@ -789,9 +789,9 @@ bool ObstacleCruiseModule::is_outside_cruise_obstacle(const uint8_t label) const
   return std::find(types.begin(), types.end(), label) != types.end();
 }
 
-bool ObstacleCruiseModule::is_ahead_stopped_obstacle(const uint8_t label) const
+bool ObstacleCruiseModule::is_side_stopped_obstacle(const uint8_t label) const
 {
-  const auto & types = obstacle_filtering_param_.ahead_stopped_object_types;
+  const auto & types = obstacle_filtering_param_.side_stopped_object_types;
   return std::find(types.begin(), types.end(), label) != types.end();
 }
 

diff --git a/...ty_planner/autoware_motion_velocity_obstacle_cruise_module/src/obstacle_cruise_module.hpp b/...ty_planner/autoware_motion_velocity_obstacle_cruise_module/src/obstacle_cruise_module.hpp
@@ -124,7 +124,7 @@ class ObstacleCruiseModule : public PluginModuleInterface
     const rclcpp::Time & predicted_objects_stamp, const std::vector<TrajectoryPoint> & traj_points);
   bool is_inside_cruise_obstacle(const uint8_t label) const;
   bool is_outside_cruise_obstacle(const uint8_t label) const;
-  bool is_ahead_stopped_obstacle(const uint8_t label) const;
+  bool is_side_stopped_obstacle(const uint8_t label) const;
   bool is_cruise_obstacle(const uint8_t label) const;
   bool is_front_collide_obstacle(
     const std::vector<TrajectoryPoint> & traj_points,

diff --git a/...otion_velocity_planner/autoware_motion_velocity_obstacle_cruise_module/src/parameters.hpp b/...otion_velocity_planner/autoware_motion_velocity_obstacle_cruise_module/src/parameters.hpp
@@ -64,7 +64,7 @@ struct ObstacleFilteringParam
 {
   std::vector<uint8_t> inside_object_types{};
   std::vector<uint8_t> outside_object_types{};
-  std::vector<uint8_t> ahead_stopped_object_types{};
+  std::vector<uint8_t> side_stopped_object_types{};
   // bool use_pointcloud{};
 
   double max_lat_margin{};
@@ -94,8 +94,8 @@ struct ObstacleFilteringParam
       utils::get_target_object_type(node, "obstacle_cruise.obstacle_filtering.object_type.inside.");
     outside_object_types = utils::get_target_object_type(
       node, "obstacle_cruise.obstacle_filtering.object_type.outside.");
-    ahead_stopped_object_types = utils::get_target_object_type(
-      node, "obstacle_cruise.obstacle_filtering.object_type.ahead_stopped.");
+    side_stopped_object_types = utils::get_target_object_type(
+      node, "obstacle_cruise.obstacle_filtering.object_type.side_stopped.");
     // use_pointcloud = get_or_declare_parameter<bool>(
     //   node, "obstacle_cruise.obstacle_filtering.object_type.pointcloud");