Avoidance module for dynamic objects

This module is under development.

Purpose / Role

This module provides avoidance functions for vehicles, pedestrians, and obstacles in the vicinity of the ego’s path in combination with the autoware_path_optimizer. Each module performs the following roles. Dynamic Avoidance module cuts off the drivable area according to the position and velocity of the target to be avoided. Obstacle Avoidance module modifies the path to be followed so that it fits within the received drivable area.

Static obstacle’s avoidance functions are also provided by the Static Avoidance module, but these modules have different roles. The Static Obstacle Avoidance module performs avoidance through the outside of own lanes but cannot avoid the moving objects. On the other hand, this module can avoid moving objects. For this reason, the word “dynamic” is used in the module’s name. The table below lists the avoidance modules that can handle each situation.

Policy of algorithms

Here, we describe the policy of inner algorithms. The inner algorithms can be separated into two parts: The first decides whether to avoid the obstacles and the second cuts off the drivable area against the corresponding obstacle.

Select obstacles to avoid

To decide whether to avoid an object, both the predicted path and the state (pose and twist) of each object are used. The type of objects the user wants this module to avoid is also required. Using this information, the module decides to avoid objects that obstruct the ego’s passage and can be avoided.

The definition of obstruct the ego’s passage is implemented as the object that collides within seconds. The other, can be avoided denotes whether it can be avoided without risk to the passengers or the other vehicles. For this purpose, the module judges whether the obstacle can be avoided with satisfying the constraints of lateral acceleration and lateral jerk. For example, the module decides not to avoid an object that is too close or fast in the lateral direction.

Cuts off the drivable area against the selected vehicles

For the selected obstacles to be avoided, the module cuts off the drivable area. As inputs to decide the shapes of cut-off polygons, poses of the obstacles are mainly used, assuming they move in parallel to the ego’s path, instead of its predicted path. This design arises from that the predicted path of objects is not accurate enough to use the path modifications (at least currently). Furthermore, the output drivable area shape is designed as a rectangular cutout along the ego’s path to make the computation scalar rather than planar.

Determination of lateral dimension

The lateral dimensions of the polygon are calculated as follows. The polygon’s width to extract from the drivable area is the obstacle width and drivable_area_generation.lat_offset_from_obstacle. We can limit the lateral shift length by drivable_area_generation.max_lat_offset_to_avoid.

Determination of longitudinal dimension

Then, extracting the same directional and opposite directional obstacles from the drivable area will work as follows considering TTC (time to collision).

Regarding the same directional obstacles, obstacles whose TTC is negative will be ignored (e.g., The obstacle is in front of the ego, and the obstacle’s velocity is larger than the ego’s velocity.).

Same directional obstacles (Parameter names may differ from implementation)

Opposite directional obstacles (Parameter names may differ from implementation)

Cuts off the drivable area against the selected pedestrians

Then, we describe the logic to generate the drivable areas against pedestrians to be avoided. Objects of this type are considered to have priority right of way over the ego’s vehicle while ensuring a minimum safety of the ego’s vehicle. In other words, the module assigns a drivable area to an obstacle with a specific margin based on the predicted paths with specific confidences for a specific time interval, as shown in the following figure.

Apart from polygons for objects, the module also generates another polygon to ensure the ego’s safety, i.e., to avoid abrupt steering or significant changes from the path. This is similar to avoidance against the vehicles and takes precedence over keeping a safe distance from the object to be avoided. As a result, as shown in the figure below, the polygons around the objects reduced by the secured polygon of the ego are subtracted from the ego’s drivable area.

Example

Future works

Currently, the path shifting length is limited to 0.5 meters or less by drivable_area_generation.max_lat_offset_to_avoid. This is caused by the lack of functionality to work with other modules and the structure of the planning component. Due to this issue, this module can only handle situations where a small avoidance width is sufficient. This issue is the most significant for this module. In addition, the ability of this module to extend the drivable area as needed is also required.

Parameters

Under development

Changelog for package autoware_behavior_path_dynamic_obstacle_avoidance_module

0.43.0 (2025-03-21)

• Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
• chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
• Contributors: Hayato Mizushima, Yutaka Kondo

0.42.0 (2025-03-03)

• Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
• feat(autoware_utils): replace autoware_universe_utils with autoware_utils (#10191)
• feat!: replace tier4_planning_msgs/PathWithLaneId with autoware_internal_planning_msgs/PathWithLaneId (#10023)
• feat(planning_test_manager): abstract message-specific functions (#9882)
  • abstract message-specific functions
  • include necessary header
  • adapt velocity_smoother to new test manager
  • adapt behavior_velocity_planner to new test manager
  • adapt path_optimizer to new test manager
  • fix output subscription
  • adapt behavior_path_planner to new test manager
  • adapt scenario_selector to new test manager
  • adapt freespace_planner to new test manager
  • adapt planning_validator to new test manager
  • adapt obstacle_stop_planner to new test manager
  • adapt obstacle_cruise_planner to new test manager
  • disable test for freespace_planner
  • adapt behavior_velocity_crosswalk_module to new test manager
  • adapt behavior_path_lane_change_module to new test manager
  • adapt behavior_path_avoidance_by_lane_change_module to new test manager
  • adapt behavior_path_dynamic_obstacle_avoidance_module to new test manager
  • adapt behavior_path_external_request_lane_change_module to new test manager
  • adapt behavior_path_side_shift_module to new test manager
  • adapt behavior_path_static_obstacle_avoidance_module to new test manager
  • adapt path_smoother to new test manager
  • adapt behavior_velocity_blind_spot_module to new test manager
  • adapt behavior_velocity_detection_area_module to new test manager
  • adapt behavior_velocity_intersection_module to new test manager
  • adapt behavior_velocity_no_stopping_area_module to new test manager
  • adapt behavior_velocity_run_out_module to new test manager
  • adapt behavior_velocity_stop_line_module to new test manager
  • adapt behavior_velocity_traffic_light_module to new test manager
  • adapt behavior_velocity_virtual_traffic_light_module to new test manager
  • adapt behavior_velocity_walkway_module to new test manager
  • adapt motion_velocity_planner_node_universe to new test manager
  • include necessary headers

  * Odometries -> Odometry ---------Co-authored-by: Takayuki Murooka <<takayuki5168@gmail.com>>

• Contributors: Fumiya Watanabe, Mitsuhiro Sakamoto, Ryohsuke Mitsudome, 心刚

0.41.2 (2025-02-19)

• chore: bump version to 0.41.1 (#10088)
• Contributors: Ryohsuke Mitsudome

0.41.1 (2025-02-10)

0.41.0 (2025-01-29)

• Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
• refactor(behavior_path_planner): common test functions (#9963)
  • feat: common test code in behavior_path_planner
  • deal with other modules
  • fix typo

  * update

• feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor (#9927) Co-authored-by: Satoshi OTA <<44889564+satoshi-ota@users.noreply.github.com>> Co-authored-by: Ryohsuke Mitsudome <<43976834+mitsudome-r@users.noreply.github.com>> Co-authored-by: satoshi-ota <<satoshi.ota928@gmail.com>>
• Contributors: Fumiya Watanabe, Mamoru Sobue, Takayuki Murooka

0.40.0 (2024-12-12)

• Merge branch 'main' into release-0.40.0
• Revert "chore(package.xml): bump version to 0.39.0 (#9587)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
• fix: fix ticket links in CHANGELOG.rst (#9588)
• chore(package.xml): bump version to 0.39.0 (#9587)
  • chore(package.xml): bump version to 0.39.0
  • fix: fix ticket links in CHANGELOG.rst

  * fix: remove unnecessary diff ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

• fix: fix ticket links in CHANGELOG.rst (#9588)
• fix(cpplint): include what you use - planning (#9570)
• 0.39.0
• update changelog
• fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
• refactor(bpp): rework steering factor interface (#9325)
  • refactor(bpp): rework steering factor interface
  • refactor(soa): rework steering factor interface
  • refactor(AbLC): rework steering factor interface
  • refactor(doa): rework steering factor interface
  • refactor(lc): rework steering factor interface
  • refactor(gp): rework steering factor interface
  • refactor(sp): rework steering factor interface
  • refactor(sbp): rework steering factor interface

  * refactor(ss): rework steering factor interface ---------

• fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
• chore(package.xml): bump version to 0.38.0 (#9266) (#9284)
  • unify package.xml version to 0.37.0
  • remove system_monitor/CHANGELOG.rst
  • add changelog

  * 0.38.0

• Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Satoshi OTA, Yutaka Kondo

0.39.0 (2024-11-25)

• fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
• fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
• chore(package.xml): bump version to 0.38.0 (#9266) (#9284)
  • unify package.xml version to 0.37.0
  • remove system_monitor/CHANGELOG.rst
  • add changelog

  * 0.38.0

• Contributors: Esteve Fernandez, Yutaka Kondo

0.38.0 (2024-11-08)

• unify package.xml version to 0.37.0
• refactor(object_recognition_utils): add autoware prefix to object_recognition_utils (#8946)
• refactor(signal_processing): prefix package and namespace with autoware (#8541)
• fix(autoware_behavior_path_planner): align the parameters with launcher (#8790) parameters in behavior_path_planner aligned
• feat(autoware_behavior_path_dynamic_obstacle_avoidance): expand drivable area (#8295)
  • add expansion drivable area feature
  • make expansion optional
  • style(pre-commit): autofix
  • clean the code

  * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>

• fix(bpp): use common steering factor interface for same scene modules (#8675)
• fix(autoware_behavior_path_dynamic_obstacle_avoidance_module): fix unusedFunction (#8652) fix:unusedFunction
• feat(behavior_path _planner): divide planner manager modules into dependent slots (#8117)
• perf(dynamic_obstacle_avoidance): decrease the computation time with time_keeper (#7986)
  • decrease computation cost
  • remove TODO

  * fix

• feat: add [autoware_]{.title-ref} prefix to [lanelet2_extension]{.title-ref} (#7640)
• fix(autoware_behavior_path_dynamic_obstacle_avoidance_module): fix bitwiseOnBoolean warning (#7636)
• refactor(universe_utils/motion_utils)!: add autoware namespace (#7594)
• refactor(motion_utils)!: add autoware prefix and include dir (#7539) refactor(motion_utils): add autoware prefix and include dir
• feat(autoware_universe_utils)!: rename from tier4_autoware_utils (#7538) Co-authored-by: kosuke55 <<kosuke.tnp@gmail.com>>
• refactor(behaivor_path_planner)!: rename to include/autoware/{package_name} (#7522)
  • refactor(behavior_path_planner)!: make autoware dir in include
  • refactor(start_planner): make autoware include dir
  • refactor(goal_planner): make autoware include dir
  • sampling planner module
  • fix sampling planner build
  • dynamic_avoidance
  • lc
  • side shift
  • autoware_behavior_path_static_obstacle_avoidance_module
  • autoware_behavior_path_planner_common
  • make behavior_path dir
  • pre-commit
  • fix pre-commit

  * fix build ---------

• Contributors: Esteve Fernandez, Kosuke Takeuchi, Mamoru Sobue, Ryuta Kambe, Satoshi OTA, Takayuki Murooka, Yutaka Kondo, Zhe Shen, beyzanurkaya, kobayu858

0.26.0 (2024-04-03)