chore(trajectory_validator): remove a trajectory_validator plugin (#12522)

* delete collision filter
---------
Signed-off-by: yuki-takagi-66 <yuki.takagi@tier4.jp>

Author: yuki-takagi-66

planning/autoware_trajectory_validator/CMakeLists.txt

@@ -34,7 +34,6 @@ rclcpp_components_register_node(${trajectory_validator_lib_target}
 
 ament_auto_add_library(autoware_trajectory_validator_plugins SHARED
   src/filters/safety/out_of_lane_filter.cpp
-  src/filters/safety/collision_filter.cpp
   src/filters/safety/vehicle_constraint_filter.cpp
   src/filters/traffic_rule/traffic_light_filter.cpp
 )

planning/autoware_trajectory_validator/README.md

@@ -12,7 +12,6 @@ Checks applied to each trajectory:
 
 - Data validity: removes trajectories that contain NaNs, non‑finite numbers, inconsistent timestamps, or are too short.
 - Lane adherence: removes trajectories that will exit all lanelets within the configured look‑ahead time.
-- Collision risk: removes trajectories whose estimated time‑to‑collision with any predicted object falls below threshold in the look‑ahead time.
 - Vehicle constraint: removes trajectories that violates vehicle constraints, such as maximum speed, acceleration, and deceleration.
 
 After these checks, the remaining trajectories, along with their original `generator_info`, are published.
@@ -31,18 +30,16 @@ After these checks, the remaining trajectories, along with their original `gener
 
 ### Parameters
 
-| Parameter name                          | Type         | Default | Description                                                                   |
-| --------------------------------------- | ------------ | ------- | ----------------------------------------------------------------------------- |
-| `filter_names`                          | string array | []      | List of safety filter plugins to use (e.g., OutOfLaneFilter, CollisionFilter) |
-| `out_of_lane.time`                      | double       | 3.0     | Look-ahead time [s] during which the trajectory must stay inside a lane       |
-| `out_of_lane.min_value`                 | double       | 0.0     | Minimum distance [m] from lane boundary                                       |
-| `collision.time`                        | double       | 3.0     | Look-ahead time [s] for collision search                                      |
-| `collision.min_value`                   | double       | 2.0     | Minimum acceptable time to collision [s]                                      |
-| `vehicle_constraint.max_speed`          | double       | 16.7    | Maximum allowed speed [m/s]                                                   |
-| `vehicle_constraint.max_acceleration`   | double       | 5.0     | Maximum allowed acceleration [m/s^2]                                          |
-| `vehicle_constraint.max_deceleration`   | double       | 5.0     | Maximum allowed deceleration; positive but represents deceleration [m/s^s]    |
-| `vehicle_constraint.max_steering_angle` | double       | 0.8     | Maximum allowed steering angle [rad]                                          |
-| `vehicle_constraint.max_steering_rate`  | double       | 0.3     | Maximum allowed steering rate [rad/s]                                         |
+| Parameter name                          | Type         | Default | Description                                                                |
+| --------------------------------------- | ------------ | ------- | -------------------------------------------------------------------------- |
+| `filter_names`                          | string array | []      | List of safety filter plugins to use (e.g., OutOfLaneFilter)               |
+| `out_of_lane.time`                      | double       | 3.0     | Look-ahead time [s] during which the trajectory must stay inside a lane    |
+| `out_of_lane.min_value`                 | double       | 0.0     | Minimum distance [m] from lane boundary                                    |
+| `vehicle_constraint.max_speed`          | double       | 16.7    | Maximum allowed speed [m/s]                                                |
+| `vehicle_constraint.max_acceleration`   | double       | 5.0     | Maximum allowed acceleration [m/s^2]                                       |
+| `vehicle_constraint.max_deceleration`   | double       | 5.0     | Maximum allowed deceleration; positive but represents deceleration [m/s^s] |
+| `vehicle_constraint.max_steering_angle` | double       | 0.8     | Maximum allowed steering angle [rad]                                       |
+| `vehicle_constraint.max_steering_rate`  | double       | 0.3     | Maximum allowed steering rate [rad/s]                                      |
 
 ## Future Work
 

planning/autoware_trajectory_validator/config/trajectory_validator.param.yaml

@@ -6,7 +6,6 @@
     shadow_mode_filter_names:
       [
         "safety::OutOfLaneFilter",
-        "safety::CollisionFilter",
         "safety::VehicleConstraintFilter",
         "traffic_rule::TrafficLightFilter",
       ]
@@ -15,10 +14,6 @@
       time: 2.0
       min_value: 0.0
 
-    collision:
-      time: 3.0
-      min_value: 2.0
-
     vehicle_constraint:
       max_speed: 16.7 # m/s
       max_acceleration: 5.0 # m/s^2

planning/autoware_trajectory_validator/include/autoware/trajectory_validator/filters/safety/collision_filter.hpp

@@ -23,18 +23,6 @@ validator:
       description: Minimum distance to lane boundary
       read_only: false
 
-  collision:
-    time:
-      type: double
-      default_value: 3.0
-      description: The time range to check
-      read_only: false
-    min_value:
-      type: double
-      default_value: 2.0
-      description: Minimum acceptable time to collision
-      read_only: false
-
   vehicle_constraint:
     max_speed:
       type: double

planning/autoware_trajectory_validator/param/parameter_struct.yaml

@@ -6,12 +6,6 @@
       Filters trajectories that go out of lane boundaries
     </description>
   </class>
-  <class type="safety::CollisionFilter"
-    base_class_type="autoware::trajectory_validator::plugin::ValidatorInterface">
-    <description>
-      Filters trajectories based on Time To Collision (TTC) with predicted objects
-    </description>
-  </class>
   <class type="safety::VehicleConstraintFilter"
     base_class_type="autoware::trajectory_validator::plugin::ValidatorInterface">
     <description>