Blind Spot

Role

Blind spot module checks possible collisions with bicycles and pedestrians running on its left/right side while turing left/right before junctions.

Activation Timing

This function is activated when the lane id of the target path has an intersection label (i.e. the turn_direction attribute is left or right).

Inner-workings / Algorithms

Sets a stop line, a pass judge line, a detection area and conflict area based on a map information and a self position.

• Stop line : Automatically created based on crossing lane information.

• Pass judge line : A position to judge if stop or not to avoid a rapid brake.

• Detection area : Right/left side area of the self position.

• Conflict area : Right/left side area from the self position to the stop line.

Stop/Go state: When both conditions are met for any of each object, this module state is transited to the “stop” state and insert zero velocity to stop the vehicle.

• Object is on the detection area
• Object’s predicted path is on the conflict area

In order to avoid a rapid stop, the “stop” judgement is not executed after the judgment line is passed.

Once a “stop” is judged, it will not transit to the “go” state until the “go” judgment continues for a certain period in order to prevent chattering of the state (e.g. 2 seconds).

Module Parameters

Flowchart

@startuml
title modifyPathVelocity
start

if (ego is turning right or left ?) then (yes)
else (no)
  stop
endif

:calculate pass judge Line;

if (ego vehicle is not after pass judge line?) then (yes)
else (no)
  stop
endif

:check obstacle in blind spot;

if (obstacle found in blind spot?) then (yes)
  :set current state as STOP;
else (no)
  :set current state as GO;
endif

:set state with margin time;

if (current state is same as previous state) then (yes)
  :reset timer;
else if (state is GO->STOP) then (yes)
  :set state as STOP;
  :reset timer;
else if (state is STOP -> GO) then (yes)
  if (start time is not set) then (yes)
    :set start time;
  else(no)
   :calculate duration;
   if(duration is more than margin time)then (yes)
    :set state GO;
    :reset timer;
   endif
  endif
endif


if (state is STOP) then (yes)
  :set stop velocity;

  :set stop reason and factor;
endif

stop
@enduml

Changelog for package autoware_behavior_velocity_blind_spot_module

0.44.0 (2025-04-18)

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)
• fix(behavior_velocity_planner): planning factor integration (#10292)
  • fix: blind_spot
  • fix: crosswalk
  • fix: detection_area
  • fix: intersection
  • fix: no_drivable_lane
  • fix: no_stopping_area
  • fix: run_out
  • fix: stop_line
  • fix: traffic_light
  • fix: virtual_traffic_light

  * fix: walk_way ---------

• feat(Autoware_planning_factor_interface): replace tier4_msgs with autoware_internal_msgs (#10204)
• Contributors: Hayato Mizushima, Satoshi OTA, Yutaka Kondo, 心刚

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
• chore(planning): move package directory for planning factor interface (#9948)
  • chore: add new package for planning factor interface
  • chore(surround_obstacle_checker): update include file
  • chore(obstacle_stop_planner): update include file
  • chore(obstacle_cruise_planner): update include file
  • chore(motion_velocity_planner): update include file
  • chore(bpp): update include file
  • chore(bvp-common): update include file
  • chore(blind_spot): update include file
  • chore(crosswalk): update include file
  • chore(detection_area): update include file
  • chore(intersection): update include file
  • chore(no_drivable_area): update include file
  • chore(no_stopping_area): update include file
  • chore(occlusion_spot): update include file
  • chore(run_out): update include file
  • chore(speed_bump): update include file
  • chore(stop_line): update include file
  • chore(template_module): update include file
  • chore(traffic_light): update include file
  • chore(vtl): update include file
  • chore(walkway): update include file

  * chore(motion_utils): remove factor interface ---------

• 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>>
• test(blind_spot): add unit tests for util functions (#9597)
• feat(behavior_velocity_modules): add node test (#9790)
  • feat(behavior_velocity_crosswalk): add node test
  • fix
  • feat(behavior_velocity_xxx_module): add node test
  • fix
  • fix
  • fix
  • fix

  * change directory tests -> test ---------

• refactor(behavior_velocity_planner_common): add behavior_velocity_rtc_interface and move RTC-related implementation (#9799)
  • split into planer_common and rtc_interface

  * Update planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/scene_module_interface.hpp Co-authored-by: Mamoru Sobue <<mamoru.sobue@tier4.jp>> * Update planning/behavior_velocity_planner/autoware_behavior_velocity_rtc_interface/include/autoware/behavior_velocity_rtc_interface/scene_module_interface_with_rtc.hpp Co-authored-by: Mamoru Sobue <<mamoru.sobue@tier4.jp>> * fix ——

  Co-authored-by: Mamoru Sobue <<mamoru.sobue@tier4.jp>>

• Contributors: Fumiya Watanabe, Mamoru Sobue, Satoshi OTA, 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)
• ci(pre-commit): update cpplint to 2.0.0 (#9557)
• fix(cpplint): include what you use - planning (#9570)
• refactor(blind_spot): move util functions outside of class (#9544)
• feat(behavior_velocity_planner)!: remove stop_reason (#9452)
• chore(blind_spot): divide headers to include/ (#9534)
• 0.39.0
• update changelog
• fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
• fix(autoware_behavior_velocity_blind_spot_module): fix clang-diagnostic-unused-parameter (#9406) fix: clang-diagnostic-unused-parameter
• 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, Mamoru Sobue, Ryohsuke Mitsudome, Yutaka Kondo, awf-autoware-bot[bot], kobayu858

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
• fix(blind_spot): hide debug information (#8885)
• fix(behavior_velocity_planner): fix cppcheck warnings of virtualCallInConstructor (#8376) Co-authored-by: Ryuta Kambe <<ryuta.kambe@tier4.jp>>
• fix(autoware_behavior_velocity_blind_spot_module): fix funcArgNamesDifferent (#8021)
  • fix:funcArgNamesDifferent
  • fix:funcArgNamesDifferent

  * refactor:clang format ---------

• feat(blind_spot): consider road_shoulder if exist (#7925)
• feat: add [autoware_]{.title-ref} prefix to [lanelet2_extension]{.title-ref} (#7640)
• 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>>
• chore(behavior_velocity_planner): move packages (#7526)
• Contributors: Fumiya Watanabe, Kosuke Takeuchi, Mamoru Sobue, Satoshi OTA, Takayuki Murooka, Yutaka Kondo, kobayu858, taisa1

0.26.0 (2024-04-03)