No Stopping Area

Role

This module plans to avoid stop in ‘no stopping area`.

• PassThrough case
  • if ego vehicle go through pass judge point, then ego vehicle can’t stop with maximum jerk and acceleration, so this module doesn’t insert stop velocity. In this case override or external operation is necessary.
• STOP case
  • If there is a stuck vehicle or stop velocity around no_stopping_area, then vehicle stops inside no_stopping_area so this module makes stop velocity in front of no_stopping_area
• GO case
  • else

Limitation

This module allows developers to design vehicle velocity in no_stopping_area module using specific rules. Once ego vehicle go through pass through point, ego vehicle does’t insert stop velocity and does’t change decision from GO. Also this module only considers dynamic object in order to avoid unnecessarily stop.

ModelParameter

Flowchart

@startuml
title modifyPathVelocity
start

if (ego path has "no stopping area" ?) then (yes)
else (no)
  stop
endif

partition pass_through_condition {
if (ego vehicle is not after dead line?) then (yes)
else (no)
  stop
endif
if (ego vehicle is stoppable before stop line consider jerk limit?) then (yes)
else (no)
  stop
endif
}
note right
  - ego vehicle is already over dead line(1.0[m] forward stop line) Do Not Stop.
  - "pass through or not" considering jerk limit is judged only once to avoid chattering.
end note

:generate ego "stuck_vehicle_detect_area" polygon;
note right
"stuck_vehicle_detect_area" polygon includes space of
 vehicle_length + obstacle_stop_max_distance
 after "no stopping area"
end note

:generate ego "stop_line_detect_area" polygon;
note right
"stop_line_detect_area" polygon includes space of
 vehicle_length + margin
 after "no stopping area"
end note

:set current judgement as GO;
if (Is stuck vehicle inside "stuck_vehicle_detect_area" polygon?) then (yes)
note right
only consider stuck vehicle following condition.
- below velocity 3.0 [m/s]
- semantic type of car bus truck or motorbike
only consider stop line as following condition.
- low velocity that is in path with lane id is considered.
end note
if (Is stop line inside "stop_line_detect_area" polygon?) then (yes)
  :set current judgement as STOP;
endif
endif

partition set_state_with_margin_time {

if (current judgement 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;
  else(no)
   endif
  endif
else(no)
endif

}

note right
  - it takes 2 seconds to change state from STOP -> GO
  - it takes 0 seconds to change state from GO -> STOP
  - reset timer if no state change
end note

if (state is STOP) then (yes)
  :set stop velocity;
  :set stop reason and factor;
  else(no)
endif
stop


@enduml

Changelog for package autoware_behavior_velocity_no_stopping_area_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(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 ---------

• 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

• fix(autoware_behavior_velocity_no_stopping_area_module): fix cppcheck knownConditionTrueFalse (#9189)
• Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Mamoru Sobue, Ryohsuke Mitsudome, Ryuta Kambe, 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

• fix(autoware_behavior_velocity_no_stopping_area_module): fix cppcheck knownConditionTrueFalse (#9189)
• Contributors: Esteve Fernandez, Ryuta Kambe, Yutaka Kondo

0.38.0 (2024-11-08)

• unify package.xml version to 0.37.0
• test(no_stopping_area): refactor and add tests (#9009) Co-authored-by: Kosuke Takeuchi <<kosuke.tnp@gmail.com>>
• refactor(autoware_interpolation): prefix package and namespace with autoware (#8088) Co-authored-by: kosuke55 <<kosuke.tnp@gmail.com>>
• fix(behavior_velocity_planner): fix cppcheck warnings of virtualCallInConstructor (#8376) Co-authored-by: Ryuta Kambe <<ryuta.kambe@tier4.jp>>
• fix(autoware_behavior_velocity_no_stopping_area_module): fix uninitMemberVar (#8321) 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: Esteve Fernandez, Fumiya Watanabe, Kosuke Takeuchi, Maxime CLEMENT, Takayuki Murooka, Yukinari Hisaki, Yutaka Kondo, kobayu858, taisa1

0.26.0 (2024-04-03)