No Drivable Lane

Role

This module plans the velocity of the related part of the path in case there is a no drivable lane referring to it.

A no drivable lane is a lanelet or more that are out of operation design domain (ODD), i.e., the vehicle must not drive autonomously in this lanelet.
A lanelet can be no drivable (out of ODD) due to many reasons, either technical limitations of the SW and/or HW, business requirements, safety considerations, …. etc, or even a combination of those.

Some examples of No Drivable Lanes

• Closed road intentionally, due to construction work for example
• Underpass road that goes under a railway, for safety reasons
• Road with slope/inclination that the vehicle is not be able to drive autonomously due to technical limitations. And lots of other examples.

A lanelet becomes invalid by adding a new tag under the relevant lanelet in the map file <tag k="no_drivable_lane" v="yes"/>.

The target of this module is to stop the vehicle before entering the no drivable lane (with configurable stop margin) or keep the vehicle stationary if autonomous mode started inside a no drivable lane. Then ask the human driver to take the responsibility of the driving task (Takeover Request / Request to Intervene)

Activation Timing

This function is activated when the lane id of the target path has an no drivable lane label (i.e. the no_drivable_lane attribute is yes).

Module Parameters

Inner-workings / Algorithms

• Get no_drivable_lane attribute on the path from lanelet2 map
• The no drivable lane state machine starts in INIT state
• Get the intersection points between path and no drivable lane polygon
• Assign the state to APPROACHING toward a no drivable lane if:
  • the distance from front of the ego vehicle till the first intersection point between the ego path and the no drivable lane polygon is more than the stop_margin
• Assign the state to INSIDE_NO_DRIVABLE_LANE if:
  • the first point of the ego path is inside the no drivable lane polygon, or
  • the distance from front of the ego vehicle till the first intersection point between the ego path and the no drivable lane polygon is less than the stop_margin
• Assign the state to STOPPED when the vehicle is completely stopped

Future Work

• As Request to Intervene API is not implemented yet, this will be handled to notify the driver to takeover the driving task responsibility after the vehicle stops due to no_drivable_lane
• Handle the case when the vehicle stops before a no drivable lane but part of its footprint intersects with the no drivable lane polygon.

Changelog for package autoware_behavior_velocity_no_drivable_lane_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)
• fix: add missing includes to autoware_universe_utils (#10091)
• feat!: replace tier4_planning_msgs/PathWithLaneId with autoware_internal_planning_msgs/PathWithLaneId (#10023)
• Contributors: Fumiya Watanabe, 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>>
• 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
• 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, Fumiya Watanabe, M. Fatih Cırıt, Mamoru Sobue, Ryohsuke Mitsudome, 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
• fix(behavior_velocity_planner): fix cppcheck warnings of virtualCallInConstructor (#8376) Co-authored-by: Ryuta Kambe <<ryuta.kambe@tier4.jp>>
• fix(autoware_behavior_velocity_no_drivable_lane_module): fix uninitMemberVar (#8322)
  • fix:uninitMemberVar

  * fix:uninitMemberVar ---------

• fix(autoware_behavior_velocity_no_drivable_lane_module): fix bug of uninitialization (#7928)
• feat: add [autoware_]{.title-ref} prefix to [lanelet2_extension]{.title-ref} (#7640)
• fix(autoware_behavior_velocity_no_drivable_lane_module): fix containerOutOfBounds wawrning (#7631)
  • fix(autoware_behavior_velocity_no_drivable_lane_module): fix containerOutOfBounds wawrning

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

• refactor(universe_utils/motion_utils)!: add autoware namespace (#7594)
• refactor(behavior_velocity_no_drivable_lane_module): prefix package and namespace with autoware (#7469)
• Contributors: Esteve Fernandez, Kosuke Takeuchi, Ryuta Kambe, Yukinari Hisaki, Yutaka Kondo, kobayu858, taisa1

0.26.0 (2024-04-03)