Detection Area

Role

If pointcloud is detected in a detection area defined on a map, the stop planning will be executed at the predetermined point.

Activation Timing

This module is activated when there is a detection area on the target lane.

Module Parameters

Inner-workings / Algorithm

1. Gets a detection area and stop line from map information and confirms if there is pointcloud in the detection area
2. Inserts stop point l[m] in front of the stop line
3. Inserts a pass judge point to a point where the vehicle can stop with a max deceleration
4. Sets velocity as zero behind the stop line when the ego-vehicle is in front of the pass judge point
5. If the ego vehicle has passed the pass judge point already, it doesn’t stop and pass through.

Flowchart

@startuml
title modifyPathVelocity
start

:get obstacle point cloud in detection area;

if (no obstacle point cloud in detection area?) then (yes)
else (no)
  :set last time obstacle found;
endif

:get clear stop state duration;

if (clear stop state duration is more than state_clear_time?) then (yes)
  if (suppress_pass_judge_when_stopping is false or ego is moving) then (yes)
    :set current state GO;
  endif
  :reset clear stop state duration;
  stop
else (no)
endif

if (use dead line?) then (yes)
  :create dead line point;
  if (Is there dead line point?) then (yes)
    if (Is over dead line point?) then (yes)
      stop
    endif
  endif
endif

:calculate stop point;

if (stop point?) then (yes)
else (no)
  stop
endif


if (state is not stop and ego vehicle over line?) then (yes)
  stop
endif

if (use pass judge line?) then (yes)
  if (state is not STOP and not enough braking distance?) then (yes)
    stop
  endif
endif

:set state STOP;

:inset stop point;

:append stop reason and stop factor;

stop
@enduml

Restart prevention

If it needs X meters (e.g. 0.5 meters) to stop once the vehicle starts moving due to the poor vehicle control performance, the vehicle goes over the stopping position that should be strictly observed when the vehicle starts to moving in order to approach the near stop point (e.g. 0.3 meters away).

This module has parameter hold_stop_margin_distance in order to prevent from these redundant restart. If the vehicle is stopped within hold_stop_margin_distance meters from stop point of the module (_front_to_stop_line < hold_stop_margin_distance), the module judges that the vehicle has already stopped for the module’s stop point and plans to keep stopping current position even if the vehicle is stopped due to other factors.

Changelog for package autoware_behavior_velocity_detection_area_module

0.44.0 (2025-04-18)

• Merge remote-tracking branch 'origin/main' into humble
• fix(detection_area): integrate RTC feature (#10376)
• Contributors: Ryohsuke Mitsudome, Satoshi OTA

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(behavior_velocity_planner)!: remove velocity_factor completely (#9943)
  • feat(behavior_velocity_planner)!: remove velocity_factor completely

  * minimize diff ---------

• 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>>
• 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 ---------

• feat(behavior_velocity_detection_area): use base class without RTC (#9802)
  • feat(behavior_velocity_detection_area): use base class without RTC
  • fix

  * fix

• 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)
• 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)
• feat(behavior_velocity_planner): replace first_stop_path_point_index (#9296)
  • feat(behavior_velocity_planner): replace first_stop_path_point_index
  • add const

  * Update planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/scene.cpp Co-authored-by: Kosuke Takeuchi <<kosuke.tnp@gmail.com>> * Update planning/behavior_velocity_planner/autoware_behavior_velocity_planner/src/planner_manager.cpp Co-authored-by: Kosuke Takeuchi <<kosuke.tnp@gmail.com>> ---------Co-authored-by: Kosuke Takeuchi <<kosuke.tnp@gmail.com>>

• 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

• feat(detection_area)!: add retruction feature (#9255)
• Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Mamoru Sobue, Ryohsuke Mitsudome, Yuki TAKAGI, Yukinari Hisaki, Yutaka Kondo

0.39.0 (2024-11-25)

• Merge commit '6a1ddbd08bd' into release-0.39.0
• 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

• feat(detection_area)!: add retruction feature (#9255)
• Contributors: Esteve Fernandez, Yuki TAKAGI, Yutaka Kondo

0.38.0 (2024-11-08)

• unify package.xml version to 0.37.0
• test(detection_area): refactor and add unit tests (#9087)
• fix(behavior_velocity_planner): fix cppcheck warnings of virtualCallInConstructor (#8376) Co-authored-by: Ryuta Kambe <<ryuta.kambe@tier4.jp>>
• fix(autoware_behavior_velocity_detection_area_module): fix uninitMemberVar (#8332) fix:uninitMemberVar
• feat: add [autoware_]{.title-ref} prefix to [lanelet2_extension]{.title-ref} (#7640)
• fix(autoware_behavior_velocity_planner_common): remove lane_id check from arc_lane_util (#7710)
  • fix(arc_lane_util): remove lane_id check from arc_lane_util

  * modify test_arc_lane_util.cpp ---------

• 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, Maxime CLEMENT, Takayuki Murooka, Yukinari Hisaki, Yutaka Kondo, kobayu858, taisa1

0.26.0 (2024-04-03)