chore: sync awf-latest

.github/CODEOWNERS

@@ -175,7 +175,7 @@ planning/behavior_velocity_occlusion_spot_module/** shumpei.wakabayashi@tier4.jp
 planning/behavior_velocity_out_of_lane_module/** maxime.clement@tier4.jp shumpei.wakabayashi@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp
 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
 planning/behavior_velocity_planner_common/** fumiya.watanabe@tier4.jp isamu.takagi@tier4.jp mamoru.sobue@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp
-planning/behavior_velocity_run_out_module/** makoto.kurihara@tier4.jp shumpei.wakabayashi@tier4.jp takayuki.murooka@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp
+planning/behavior_velocity_run_out_module/** kosuke.takeuchi@tier4.jp makoto.kurihara@tier4.jp shumpei.wakabayashi@tier4.jp takayuki.murooka@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp
 planning/behavior_velocity_speed_bump_module/** mdogru@leodrive.ai shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp
 planning/behavior_velocity_stop_line_module/** fumiya.watanabe@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp zhe.shen@tier4.jp
 planning/behavior_velocity_template_module/** daniel.sanchez@tier4.jp

planning/behavior_path_dynamic_avoidance_module/src/scene.cpp

@@ -1221,7 +1221,6 @@ std::optional<MinMaxValue> DynamicAvoidanceModule::calcMinMaxLateralOffsetToAvoi
       prev_object->ref_path_points_for_obj_poly,
       ref_path_points_for_obj_poly.at(obj_point_idx).point.pose.position));
 
-    std::cerr << paths_lat_diff << std::endl;
     constexpr double min_paths_lat_diff = 0.3;
     if (paths_lat_diff < min_paths_lat_diff) {
       return true;

planning/behavior_path_side_shift_module/README.md

@@ -2,6 +2,29 @@
 
 (For remote control) Shift the path to left or right according to an external instruction.
 
+## Overview of the Side Shift Module Process
+
+1. Receive the required lateral offset input.
+2. Update the `requested_lateral_offset_` under the following conditions:
+   a. Verify if the last update time has elapsed.
+   b. Ensure the required lateral offset value is different from the previous one.
+3. Insert the shift points into the path if the side shift module's status is not in the SHIFTING status.
+
+Please be aware that `requested_lateral_offset_` is continuously updated with the latest values and is not queued.
+
+## Statuses of the Side Shift
+
+The side shift has three distinct statuses. Note that during the SHIFTING status, the path cannot be updated:
+
+1. BEFORE_SHIFT: Preparing for shift.
+2. SHIFTING: Currently in the process of shifting.
+3. AFTER_SHIFT: Shift completed.
+
+<figure markdown>
+  ![case1](images/side_shift_status.drawio.svg){width=1000}
+  <figcaption>side shift status</figcaption>
+</figure>
+
 ## Flowchart
 
 ```plantuml
@@ -27,7 +50,7 @@ stop
 @enduml
 ```
 
-```plantuml -->
+```plantuml
 @startuml
 skinparam monochrome true
 skinparam defaultTextAlignment center

planning/behavior_path_start_planner_module/README.md

@@ -16,7 +16,7 @@ Use cases include:
 - pull out from the shoulder lane to the road lane centerline.
 
 <figure markdown>
-  ![case2](images/start_from_start_from_road_shoulder.drawio.svg){width=1000}
+  ![case2](images/start_from_road_shoulder.drawio.svg){width=1000}
   <figcaption>pull out from the shoulder lane</figcaption>
 </figure>