From aca1626adb12cbdacb3ef290bbc2a55b953d4457 Mon Sep 17 00:00:00 2001
From: Yukinari Hisaki <42021302+yhisaki@users.noreply.github.com>
Date: Mon, 3 Feb 2025 19:30:18 +0900
Subject: [PATCH] Merge pull request #734 from tier4/feat/traffic_light-v2i

feat(traffic_light_module): add v2i to behavior_velocity_traffic_light
---
 .../behavior_velocity_planner/traffic_light.param.yaml |  6 ++++++
 autoware_launch/launch/autoware.launch.xml             | 10 ++++++++++
 autoware_launch/launch/logging_simulator.launch.xml    |  4 ++++
 autoware_launch/launch/planning_simulator.launch.xml   |  4 ++++
 4 files changed, 24 insertions(+)

diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/traffic_light.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/traffic_light.param.yaml
index 23746a61b6..6aac965227 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/traffic_light.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/traffic_light.param.yaml
@@ -7,3 +7,9 @@
       yellow_lamp_period: 2.75
       enable_pass_judge: true
       enable_rtc: false # If set to true, the scene modules require approval from the rtc (request to cooperate) function. If set to false, the modules can be executed without requiring rtc approval
+
+      v2i:
+        use_rest_time: false
+        last_time_allowed_to_pass: 2.0 # relative time against at the time of turn to red
+        velocity_threshold: 0.5 # change the decision logic whether the current velocity is faster or not
+        required_time_to_departure: 3.0 # prevent low speed pass
diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml
index b29819a1aa..c22202e452 100644
--- a/autoware_launch/launch/autoware.launch.xml
+++ b/autoware_launch/launch/autoware.launch.xml
@@ -23,6 +23,7 @@
   <arg name="launch_planning" default="true" description="launch planning"/>
   <arg name="launch_control" default="true" description="launch control"/>
   <arg name="launch_api" default="true" description="launch api"/>
+  <arg name="launch_v2x" default="false" description="launch V2X"/>
   <!-- Global parameters -->
   <arg name="use_sim_time" default="false" description="use_sim_time"/>
   <!-- Vehicle -->
@@ -124,6 +125,15 @@
     <include file="$(find-pkg-share autoware_launch)/launch/components/tier4_autoware_api_component.launch.xml"/>
   </group>
 
+  <!-- V2X -->
+  <group if="$(var launch_v2x)">
+    <include file="$(find-pkg-share jpn_signal_launcher)/launch/jpn_signal.launch.xml">
+      <arg name="map_path" value="$(var map_path)"/>
+      <arg name="vehicle_model" value="$(var vehicle_model)"/>
+      <arg name="vehicle_id" value="1"/>
+    </include>
+  </group>
+
   <!-- Tools -->
   <group>
     <node
diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml
index ad11e90bdf..065b69baf0 100644
--- a/autoware_launch/launch/logging_simulator.launch.xml
+++ b/autoware_launch/launch/logging_simulator.launch.xml
@@ -33,6 +33,8 @@
   <arg name="launch_dummy_diag_publisher" default="false" description="launch dummy diag publisher"/>
   <!-- Tools -->
   <arg name="rviz" default="true" description="launch rviz"/>
+  <!-- V2X-->
+  <arg name="launch_v2x" default="false" description="launch v2x modules"/>
   <!-- Scenario simulation -->
   <arg name="scenario_simulation" default="false" description="use scenario simulation"/>
 
@@ -71,6 +73,8 @@
       <arg name="pointcloud_map_file" value="$(var pointcloud_map_file)"/>
       <!-- Sensing -->
       <arg name="launch_sensing_driver" value="false"/>
+      <!-- V2X -->
+      <arg name="launch_v2x" value="false"/>
     </include>
   </group>
 </launch>
diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml
index 3e0ed8d20c..5d83346264 100644
--- a/autoware_launch/launch/planning_simulator.launch.xml
+++ b/autoware_launch/launch/planning_simulator.launch.xml
@@ -33,6 +33,8 @@
   <arg name="rviz_config" default="$(find-pkg-share autoware_launch)/rviz/$(var rviz_config_name)" description="rviz config path"/>
   <let name="rviz_respawn" value="false" if="$(var scenario_simulation)"/>
   <let name="rviz_respawn" value="true" unless="$(var scenario_simulation)"/>
+  <!-- V2X-->
+  <arg name="launch_v2x" default="false" description="launch v2x modules"/>
   <!-- Vcu emulation -->
   <arg name="vehicle_simulation" default="true" description="use vehicle simulation"/>
   <!-- Auto mode setting-->
@@ -78,6 +80,8 @@
       <arg name="rviz" value="$(var rviz)"/>
       <arg name="rviz_config" value="$(var rviz_config)"/>
       <arg name="rviz_respawn" value="$(var rviz_respawn)"/>
+      <!-- V2X -->
+      <arg name="launch_v2x" value="$(var launch_v2x)"/>
       <!-- Auto mode setting-->
       <arg name="enable_all_modules_auto_mode" value="$(var enable_all_modules_auto_mode)"/>
       <arg name="is_simulation" value="true"/>