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autoware_behavior_velocity_crosswalk_module package from autoware_universe repo

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autoware_map_height_fitter autoware_map_tf_generator autoware_bytetrack autoware_cluster_merger autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_range_splitter autoware_object_velocity_splitter autoware_occupancy_grid_map_outlier_filter autoware_probabilistic_occupancy_grid_map autoware_radar_crossing_objects_noise_filter autoware_radar_fusion_to_detected_object autoware_radar_object_clustering autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation 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autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_run_out_module autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_diagnostics autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_livox_tag_filter autoware_carla_interface autoware_dummy_perception_publisher autoware_fault_injection autoware_learning_based_vehicle_model 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autoware_mission_details_overlay_rviz_plugin autoware_overlay_rviz_plugin autoware_string_stamped_rviz_plugin autoware_perception_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_datetime_rviz_plugin tier4_localization_rviz_plugin tier4_planning_factor_rviz_plugin tier4_planning_rviz_plugin tier4_state_rviz_plugin tier4_system_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

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Package Summary

Tags No category tags.
Version 0.43.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/autowarefoundation/autoware_universe.git
VCS Type git
VCS Version main
Last Updated 2025-04-03
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The autoware_behavior_velocity_crosswalk_module package

Additional Links

No additional links.

Maintainers

  • Satoshi Ota
  • Tomoya Kimura
  • Shumpei Wakabayashi
  • Takayuki Murooka
  • Kyoichi Sugahara
  • Mamoru Sobue
  • Yuki Takagi

Authors

  • Satoshi Ota
planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/README.md

Crosswalk

Role

This module judges whether the ego should stop in front of the crosswalk in order to provide safe passage for crosswalk users, such as pedestrians and bicycles, based on the objects’ behavior and surround traffic.

![crosswalk_module](docs/crosswalk_module.svg){width=1100}

Flowchart

@startuml

title modifyPathVelocity
start
:getPathEndPointsOnCrosswalk;
group apply slow down
  :applySlowDownByLanleet2Map;
  :applySlowDownByOcclusion;
end group
group calculate stop pose
  :getDefaultStopPose;
  :resamplePath;
  :checkStopForCrosswalkUsers;
  :checkStopForStuckVehicles;
end group
group apply stop
  :getNearestStopFactor;
  :setSafe;
  :setDistanceToStop;

  if (isActivated() is True?) then (yes)
    :planGo;
  else (no)
    :planStop;
  endif
end group
stop
@enduml


@startuml

title checkStopForCrosswalkUsers
start
group calculate the candidate stop
  :pick the closest stop point against the pedestrians and stop point on map as the preferred stop;
  if (the weak brake distance is closer than the preferred stop?) then (yes)
    :plan to stop at the preferred stop;
  else (no)
    if (the weak brake distance is closer than the limit stop position against the nearest pedestrian?) then (yes)
      :plan to stop by the weak brake distance;
    else (no)
      :plan to stop at the limit stop position against the nearest pedestrian;
    endif
  endif
end group
group check if the candidate stop pose is acceptable for braking distance
  if (the stop pose candidate is closer than the acceptable stop dist?) then (yes)
    :abort to stop.;
  else (no)
    :plan to stop at the candidate stop pose;
  endif
end group
stop

@enduml

Features

Yield the Way to the Pedestrians

Target Object

The crosswalk module handles objects of the types defined by the following parameters in the object_filtering.target_object namespace.

Parameter Unit Type Description
unknown [-] bool whether to look and stop by UNKNOWN objects
pedestrian [-] bool whether to look and stop by PEDESTRIAN objects
bicycle [-] bool whether to look and stop by BICYCLE objects
motorcycle [-] bool whether to look and stop by MOTORCYCLE objects

In order to handle the crosswalk users crossing the neighborhood but outside the crosswalk, the crosswalk module creates an attention area around the crosswalk, shown as the yellow polygon in the figure. If the object’s predicted path collides with the attention area, the object will be targeted for yield.

![crosswalk_attention_range](docs/crosswalk_attention_range.svg){width=600}

The neighborhood is defined by the following parameter in the object_filtering.target_object namespace.

Parameter Unit Type Description
crosswalk_attention_range [m] double the detection area is defined as -X meters before the crosswalk to +X meters behind the crosswalk

Stop Position

First of all, stop_distance_from_object [m] is always kept at least between the ego and the target object for safety.

When the stop line exists in the lanelet map, the stop position is calculated based on the line. When the stop line does NOT exist in the lanelet map, the stop position is calculated by keeping stop_distance_from_crosswalk [m] between the ego and the crosswalk.

As an exceptional case, if a pedestrian (or bicycle) is crossing wide crosswalks seen in scramble intersections, and the pedestrian position is more than far_object_threshold meters away from the stop line, the actual stop position is determined by stop_distance_from_object and pedestrian position, not at the stop line.

![far_object_threshold](docs/far_object_threshold.drawio.svg){width=700}

In the stop_position namespace, the following parameters are defined.

Parameter   Type Description
stop_position_threshold [m] double If the ego vehicle has stopped near the stop line than this value, this module assumes itself to have achieved yielding.
stop_distance_from_crosswalk [m] double make stop line away from crosswalk for the Lanelet2 map with no explicit stop lines
far_object_threshold [m] double If objects cross X meters behind the stop line, the stop position is determined according to the object position (stop_distance_from_object meters before the object) for the case where the crosswalk width is very wide
stop_distance_from_object [m] double the vehicle decelerates to be able to stop in front of object with margin

Yield decision

The module makes a decision to yield only when the pedestrian traffic light is GREEN or UNKNOWN. The decision is based on the following variables, along with the calculation of the collision point.

  • Time-To-Collision (TTC): The time for the ego to reach the virtual collision point.
  • Time-To-Vehicle (TTV): The time for the object to reach the virtual collision point.

We classify ego behavior at crosswalks into three categories according to the relative relationship between TTC and TTV [1].

  • A. TTC » TTV: The object will pass early enough than the ego reach the collision point.
    • No stop planning.
  • B. TTC ≒ TTV: There is a risk of collision.
    • Stop point is inserted in the ego’s path.
  • C. TTC « TTV: The ego will pass early enough than the object reach the collision point.
    • No stop planning.

The following figure shows the decision result for each TTC and TTV with the parameters, ego_pass_first_margin_x is {0}, ego_pass_first_margin_y is {4}, ego_pass_later_margin_x is {0}, and ego_pass_later_margin_y is {13}.

If the red signal is indicating to the corresponding crosswalk, the ego do not yield against the pedestrians.

In the pass_judge namespace, the following parameters are defined.

Parameter   Type Description
ego_pass_first_margin_x [[s]] double time to collision margin vector for ego pass first situation (the module judges that ego don’t have to stop at TTC + MARGIN < TTV condition)
ego_pass_first_margin_y [[s]] double time to vehicle margin vector for ego pass first situation (the module judges that ego don’t have to stop at TTC + MARGIN < TTV condition)
ego_pass_first_additional_margin [s] double additional time margin for ego pass first situation to suppress chattering
ego_pass_later_margin_x [[s]] double time to vehicle margin vector for object pass first situation (the module judges that ego don’t have to stop at TTV + MARGIN < TTC condition)
ego_pass_later_margin_y [[s]] double time to collision margin vector for object pass first situation (the module judges that ego don’t have to stop at TTV + MARGIN < TTC condition)
ego_pass_later_additional_margin [s] double additional time margin for object pass first situation to suppress chattering

Smooth Yield Decision

If the object is stopped near the crosswalk but has no intention of walking, a situation can arise in which the ego continues to yield the right-of-way to the object. To prevent such a deadlock situation, the ego will cancel yielding depending on the situation.

For the object stopped around the crosswalk but has no intention to walk (*1), after the ego has keep stopping to yield for a specific time (*2), the ego cancels the yield and starts driving.

*1: The time is calculated by the interpolation of distance between the object and crosswalk with distance_set_for_no_intention_to_walk and timeout_set_for_no_intention_to_walk.

In the pass_judge namespace, the following parameters are defined.

Parameter   Type Description
distance_set_for_no_intention_to_walk [[m]] double key sets to calculate the timeout for no intention to walk with interpolation
timeout_set_for_no_intention_to_walk [[s]] double value sets to calculate the timeout for no intention to walk with interpolation

*2: In the pass_judge namespace, the following parameters are defined.

Parameter   Type Description
timeout_ego_stop_for_yield [s] double If the ego maintains the stop for this amount of time, then the ego proceeds, assuming it has stopped long time enough.

New Object Handling

Due to the perception’s limited performance where the tree or poll is recognized as a pedestrian or the tracking failure in the crowd or occlusion, even if the surrounding environment does not change, the new pedestrian (= the new ID’s pedestrian) may suddenly appear unexpectedly. If this happens while the ego is going to pass the crosswalk, the ego will stop suddenly.

To deal with this issue, the option disable_yield_for_new_stopped_object is prepared. If true is set, the yield decisions around the crosswalk with a traffic light will ignore the new stopped object.

In the pass_judge namespace, the following parameters are defined.

Parameter   Type Description
disable_yield_for_new_stopped_object [-] bool If set to true, the new stopped object will be ignored around the crosswalk with a traffic light

Stuck Prevention on the Crosswalk

The feature will make the ego not to stop on the crosswalk. When there is a low-speed or stopped vehicle ahead of the crosswalk, and there is not enough space between the crosswalk and the vehicle, the crosswalk module plans to stop before the crosswalk even if there are no pedestrians or bicycles.

min_acc, min_jerk, and max_jerk are met. If the ego cannot stop before the crosswalk with these parameters, the stop position will move forward.

![stuck_vehicle_attention_range](docs/stuck_vehicle_detection.svg){width=600}

In the stuck_vehicle namespace, the following parameters are defined.

Parameter Unit Type Description
stuck_vehicle_velocity [m/s] double maximum velocity threshold whether the target vehicle is stopped or not
max_stuck_vehicle_lateral_offset [m] double maximum lateral offset of the target vehicle position
required_clearance [m] double clearance to be secured between the ego and the ahead vehicle
min_acc [m/ss] double minimum acceleration to stop
min_jerk [m/sss] double minimum jerk to stop
max_jerk [m/sss] double maximum jerk to stop

Safety Slow Down Behavior

In the current autoware implementation, if no target object is detected around a crosswalk, the ego vehicle will not slow down for the crosswalk. However, it may be desirable to slow down in situations, for example, where there are blind spots. Such a situation can be handled by setting some tags to the related crosswalk as instructed in the lanelet2_format_extension.md document.

Parameter   Type Description
slow_velocity [m/s] double target vehicle velocity when module receive slow down command from FOA
max_slow_down_jerk [m/sss] double minimum jerk deceleration for safe brake
max_slow_down_accel [m/ss] double minimum accel deceleration for safe brake
no_relax_velocity [m/s] double if the current velocity is less than X m/s, ego always stops at the stop position(not relax deceleration constraints)

Occlusion

This feature makes ego slow down for a crosswalk that is occluded.

Occlusion of the crosswalk is determined using the occupancy grid. An occlusion is a square of size min_size of occluded cells (i.e., their values are between free_space_max and occupied_min) of size min_size. If an occlusion is found within range of the crosswalk, then the velocity limit at the crosswalk is set to slow_down_velocity (or more to not break limits set by max_slow_down_jerk and max_slow_down_accel). The range is calculated from the intersection between the ego path and the crosswalk and is equal to the time taken by ego to reach the crosswalk times the occluded_object_velocity. This range is meant to be large when ego is far from the crosswalk and small when ego is close.

In order to avoid flickering decisions, a time buffer can be used such that the decision to add (or remove) the slow down is only taken after an occlusion is detected (or not detected) for a consecutive time defined by the time_buffer parameter.

To ignore occlusions when the crosswalk has a traffic light, ignore_with_traffic_light should be set to true.

To ignore temporary occlusions caused by moving objects, ignore_behind_predicted_objects should be set to true. By default, occlusions behind an object with velocity higher than ignore_velocity_thresholds.default are ignored. This velocity threshold can be specified depending on the object type by specifying the object class label and velocity threshold in the parameter lists ignore_velocity_thresholds.custom_labels and ignore_velocity_thresholds.custom_thresholds. To inflate the masking behind objects, their footprint can be made bigger using extra_predicted_objects_size.

![stuck_vehicle_attention_range](docs/with_occlusion.svg){width=600}
Parameter Unit Type Description
enable [-] bool if true, ego will slow down around crosswalks that are occluded
occluded_object_velocity [m/s] double assumed velocity of objects that may come out of the occluded space
slow_down_velocity [m/s] double slow down velocity
time_buffer [s] double consecutive time with/without an occlusion to add/remove the slowdown
min_size [m] double minimum size of an occlusion (square side size)
free_space_max [-] double maximum value of a free space cell in the occupancy grid
occupied_min [-] double minimum value of an occupied cell in the occupancy grid
ignore_with_traffic_light [-] bool if true, occlusions at crosswalks with traffic lights are ignored
ignore_behind_predicted_objects [-] bool if true, occlusions behind predicted objects are ignored
ignore_velocity_thresholds.default [m/s] double occlusions are only ignored behind objects with a higher or equal velocity
ignore_velocity_thresholds.custom_labels [-] string list labels for which to define a non-default velocity threshold (see autoware_perception_msgs::msg::ObjectClassification for all the labels)
ignore_velocity_thresholds.custom_thresholds [-] double list velocities of the custom labels
extra_predicted_objects_size [m] double extra size added to the objects for masking the occlusions

Others

In the common namespace, the following parameters are defined.

Parameter Unit Type Description
show_processing_time [-] bool whether to show processing time
traffic_light_state_timeout [s] double timeout threshold for traffic light signal
enable_rtc [-] bool if true, the scene modules should be approved by (request to cooperate)rtc function. if false, the module can be run without approval from rtc.

Known Issues

  • The yield decision may be sometimes aggressive or conservative depending on the case.
    • The main reason is that the crosswalk module does not know the ego’s position in the future. The detailed ego’s position will be determined after the whole planning.
    • Currently the module assumes that the ego will move with a constant velocity.

Debugging

Visualization of debug markers

/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/crosswalk shows the following markers.

![limitation](docs/debug_markers.png){width=1000}
  • Yellow polygons
    • Ego footprints’ polygon to calculate the collision check.
  • Pink polygons
    • Object footprints’ polygon to calculate the collision check.
  • The color of crosswalks
    • Considering the traffic light’s color, red means the target crosswalk, and white means the ignored crosswalk.
  • Texts
    • It shows the module ID, TTC, TTV, and the module state.

Visualization of Time-To-Collision

ros2 run autoware_behavior_velocity_crosswalk_module time_to_collision_plotter.py

enables you to visualize the following figure of the ego and pedestrian’s time to collision. The label of each plot is <crosswalk module id>-<pedestrian uuid>.

![limitation](docs/time_to_collision_plot.png){width=1000}

Trouble Shooting

Behavior

  • Q. The ego stopped around the crosswalk even though there were no crosswalk user objects.
  • Q. The crosswalk virtual wall suddenly appeared resulting in the sudden stop.
    • A. There may be a crosswalk user started moving when the ego was close to the crosswalk.
  • Q. The crosswalk module decides to stop even when the pedestrian traffic light is red.
    • A. The lanelet map may be incorrect. The pedestrian traffic light and the crosswalk have to be related.
  • Q. In the planning simulation, the crosswalk module does the yield decision to stop on all the crosswalks.
    • A. This is because the pedestrian traffic light is unknown by default. In this case, the crosswalk does the yield decision for safety.

Parameter Tuning

  • Q. The ego’s yield behavior is too conservative.
  • Q. The ego’s yield behavior is too aggressive.

[1] 佐藤 みなみ, 早坂 祥一, 清水 政行, 村野 隆彦, 横断歩行者に対するドライバのリスク回避行動のモデル化, 自動車技術会論文集, 2013, 44 巻, 3 号, p. 931-936.

CHANGELOG

Changelog for package autoware_behavior_velocity_crosswalk_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)
  • 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(autoware_objects_of_interest_marker_interface): replace autoware_universe_utils with autoware_utils (#10174)
  • 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
  • docs(crosswalk): fix file add miss (#10028)
  • docs(crosswalk): update ttc vs ttv docs (#10025)
  • feat(crosswalk): update judgle time against the stopped objects (#9988)
  • chore(crosswalk): port the same direction ignore block (#9983)
  • feat(crosswalk): add pass marker (#9952)
  • 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>>
  • fix: remove unnecessary parameters (#9935)
  • 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>>

  • feat(behavior_velocity_planner): use XXXStamped in autoware_internal_debug_msgs (#9744)
    • feat(behavior_velocity_planner): use XXXStamped in autoware_internal_debug_msgs

    * fix

  • feat(behavior_velocity_planner): remove unnecessary tier4_api_msgs (#9692)
  • Contributors: Fumiya Watanabe, Mamoru Sobue, Satoshi OTA, Takayuki Murooka, Yuki TAKAGI

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)
  • feat(behavior_velocity_planner)!: remove stop_reason (#9452)
  • 0.39.0
  • update changelog
  • Merge commit '6a1ddbd08bd' into release-0.39.0
  • fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
  • chore(crosswalk)!: delete wide crosswalk corresponding function (#9329)
  • 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

  • fix(crosswalk): don't use vehicle stop checker to remove unnecessary callback (#9234)
  • test(crosswalk): add unit test (#9228)
  • Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Mamoru Sobue, Ryohsuke Mitsudome, Satoshi OTA, Yuki TAKAGI, Yutaka Kondo

0.39.0 (2024-11-25)

0.38.0 (2024-11-08)

  • unify package.xml version to 0.37.0
  • refactor(autoware_grid_map_utils): prefix folder structure with autoware/ (#9170)
  • fix(crosswalk): fix occlusion detection range calculation and add debug markers (#9121)
  • fix(crosswalk): fix passing direction calclation for the objects (#9071)
  • fix(crosswalk): change exceptional handling (#8956)
  • refactor(autoware_interpolation): prefix package and namespace with autoware (#8088) Co-authored-by: kosuke55 <<kosuke.tnp@gmail.com>>
  • feat(crosswalk)!: update stop position caluculation (#8853)
  • feat(crosswalk): suppress restart when the ego is close to the next stop point (#8817)
    • feat(crosswalk): suppress restart when the ego is close to the next stop point
    • update

    * add comment ---------

  • fix(behavior_velocity_planner): align the parameters with launcher (#8791) parameters in behavior_velocity_planner aligned
  • fix(autoware_behavior_velocity_crosswalk_module): fix unusedFunction (#8665) fix:unusedFunction
  • fix(crosswalk): fix findEgoPassageDirectionAlongPath finding front and back point logic (#8459)
    • fix(crosswalk): fix findEgoPassageDirectionAlongPath finding front and back point logic

    * define ego_crosswalk_passage_direction later ---------

  • fix(behavior_velocity_planner): fix cppcheck warnings of virtualCallInConstructor (#8376) Co-authored-by: Ryuta Kambe <<ryuta.kambe@tier4.jp>>
  • fix(autoware_behavior_velocity_crosswalk_module): fix passedByValue (#8210)
    • fix:passedByValue

    * fix:passedByValue ---------

  • refactor(crosswalk): clean up the structure and create a brief flowchart (#7868)
    • refactor(crosswalk): clean up the structure and create a brief flowchart
    • update
    • fix

    * static stop pose -> default stop pose ---------

  • fix(autoware_behavior_velocity_crosswalk_module): fix shadowVariable (#7974)
    • fix:shadowVariable

    * fix:shadowVariable ---------

  • 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: Esteve Fernandez, Fumiya Watanabe, Kosuke Takeuchi, Maxime CLEMENT, Mehmet Dogru, Takayuki Murooka, Yuki TAKAGI, Yutaka Kondo, Zhe Shen, kobayu858, taisa1

0.26.0 (2024-04-03)

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