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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 | 2025-04-04 |
| 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
Additional Links
Maintainers
- Taiki Tanaka
- Tomoya Kimura
- Shumpei Wakabayashi
Authors
- Taiki Tanaka
Occlusion Spot
Role
This module plans safe velocity to slow down before reaching collision point that hidden object is darting out from occlusion spot where driver can’t see clearly because of obstacles.
Activation Timing
This module is activated if launch_occlusion_spot becomes true. To make pedestrian first zone map tag is one of the TODOs.
Limitation and TODOs
This module is prototype implementation to care occlusion spot. To solve the excessive deceleration due to false positive of the perception, the logic of detection method can be selectable. This point has not been discussed in detail and needs to be improved.
- Make occupancy grid for planning.
- Make map tag for occlusion spot.
- About the best safe motion.
TODOs are written in each Inner-workings / Algorithms (see the description below).
Inner-workings / Algorithms
Logics Working
There are several types of occlusions, such as “occlusions generated by parked vehicles” and “occlusions caused by obstructions”. In situations such as driving on road with obstacles, where people jump out of the way frequently, all possible occlusion spots must be taken into account. This module considers all occlusion spots calculated from the occupancy grid, but it is not reasonable to take into account all occlusion spots for example, people jumping out from behind a guardrail, or behind cruising vehicle. Therefore currently detection area will be limited to to use predicted object information.
Note that this decision logic is still under development and needs to be improved.
DetectionArea Polygon
This module considers TTV from pedestrian velocity and lateral distance to occlusion spot. TTC is calculated from ego velocity and acceleration and longitudinal distance until collision point using motion velocity smoother. To compute fast this module only consider occlusion spot whose TTV is less than TTC and only consider area within “max lateral distance”.
Occlusion Spot Occupancy Grid Base
This module considers any occlusion spot around ego path computed from the occupancy grid. Due to the computational cost occupancy grid is not high resolution and this will make occupancy grid noisy so this module add information of occupancy to occupancy grid map.
TODO: consider hight of obstacle point cloud to generate occupancy grid.
Collision Free Judgement
obstacle that can run out from occlusion should have free space until intersection from ego vehicle
Partition Lanelet
By using lanelet information of “guard_rail”, “fence”, “wall” tag, it’s possible to remove unwanted occlusion spot.
By using static object information, it is possible to make occupancy grid more accurate.
To make occupancy grid for planning is one of the TODOs.
Possible Collision
obstacle that can run out from occlusion is interrupted by moving vehicle.
About safe motion
The Concept of Safe Velocity and Margin
The safe slowdown velocity is calculated from the below parameters of ego emergency braking system and time to collision. Below calculation is included but change velocity dynamically is not recommended for planner.
- jerk limit[m/s^3]
- deceleration limit[m/s2]
- delay response time[s]
-
time to collision of pedestrian[s] with these parameters we can briefly define safe motion before occlusion spot for ideal environment.
This module defines safe margin to consider ego distance to stop and collision path point geometrically. While ego is cruising from safe margin to collision path point, ego vehicle keeps the same velocity as occlusion spot safe velocity.
Note: This logic assumes high-precision vehicle speed tracking and margin for decel point might not be the best solution, and override with manual driver is considered if pedestrian really run out from occlusion spot.
TODO: consider one of the best choices
- stop in front of occlusion spot
- insert 1km/h velocity in front of occlusion spot
- slowdown this way
- etc… .
Maximum Slowdown Velocity
The maximum slowdown velocity is calculated from the below parameters of ego current velocity and acceleration with maximum slowdown jerk and maximum slowdown acceleration in order not to slowdown too much.
- $j_{max}$ slowdown jerk limit[m/s^3]
- $a_{max}$ slowdown deceleration limit[m/s2]
- $v_{0}$ current velocity[m/s]
- $a_{0}$ current acceleration[m/s]
Module Parameters
| Parameter | Type | Description |
|---|---|---|
pedestrian_vel |
double | [m/s] maximum velocity assumed pedestrian coming out from occlusion point. |
pedestrian_radius |
double | [m] assumed pedestrian radius which fits in occlusion spot. |
| Parameter | Type | Description |
|---|---|---|
use_object_info |
bool | [-] whether to reflect object info to occupancy grid map or not. |
use_partition_lanelet |
bool | [-] whether to use partition lanelet map data. |
| Parameter /debug | Type | Description |
|---|---|---|
is_show_occlusion |
bool | [-] whether to show occlusion point markers. |
is_show_cv_window |
bool | [-] whether to show open_cv debug window. |
is_show_processing_time |
bool | [-] whether to show processing time. |
| Parameter /threshold | Type | Description |
|---|---|---|
detection_area_length |
double | [m] the length of path to consider occlusion spot |
stuck_vehicle_vel |
double | [m/s] velocity below this value is assumed to stop |
lateral_distance |
double | [m] maximum lateral distance to consider hidden collision |
| Parameter /motion | Type | Description |
|---|---|---|
safety_ratio |
double | [-] safety ratio for jerk and acceleration |
max_slow_down_jerk |
double | [m/s^3] jerk for safe brake |
max_slow_down_accel |
double | [m/s^2] deceleration for safe brake |
non_effective_jerk |
double | [m/s^3] weak jerk for velocity planning. |
non_effective_acceleration |
double | [m/s^2] weak deceleration for velocity planning. |
min_allowed_velocity |
double | [m/s] minimum velocity allowed |
safe_margin |
double | [m] maximum error to stop with emergency braking system. |
| Parameter /detection_area | Type | Description |
|---|---|---|
min_occlusion_spot_size |
double | [m] the length of path to consider occlusion spot |
slice_length |
double | [m] the distance of divided detection area |
max_lateral_distance |
double | [m] buffer around the ego path used to build the detection_area area. |
| Parameter /grid | Type | Description |
|---|---|---|
free_space_max |
double | [-] maximum value of a free space cell in the occupancy grid |
occupied_min |
double | [-] buffer around the ego path used to build the detection_area area. |
Flowchart
Rough overview of the whole process
@startuml
title modifyPathVelocity (Occupancy/PredictedObject)
start
partition process_path {
:clip path by length;
:interpolate path;
note right
using spline interpolation and interpolate (x,y,z,v)
end note
:calc closest path point from ego;
}
partition process_sensor_data {
if (road type is PredictedObject) then (yes)
:preprocess dynamic object;
else if (road type is Occupancy) then (yes)
:preprocess occupancy grid map info;
else (no)
stop
endif
}
:calculate offset from start to ego;
partition generate_detection_area_polygon {
:convert path to path lanelet;
:generate left/right slice of polygon that starts from path start;
:generate interpolated polygon created from ego TTC and lateral distance that pedestrian can reach within ego TTC.;
}
partition find_possible_collision {
:generate possible collision;
:calculate collision path point and intersection point;
note right
- occlusion spot is calculated by the longitudinally closest point of unknown cells.
- intersection point is where ego front bumper and the darting object will crash.
- collision path point is calculated by arc coordinate consider ego vehicle's geometry.
- safe velocity and safe margin is calculated from performance of ego emergency braking system.
end note
:calculate safe velocity and safe margin for possible collision;
note right
- safe velocity and safe margin is calculated from performance of ego emergency braking system.
end note
}
partition process_possible_collision {
:filter possible collision by road type;
note right
filter by target road type start and end pair
end note
:calculate slow down points for possible collision;
note right
calculate original velocity and height for the possible collision
end note
:handle collision offset;
note right
consider offset from path start to ego vehicle for possible collision
end note
:apply safe velocity comparing with allowed velocity;
note right
calculated by
- safe velocity calculated from emergency brake performance.
- maximum allowed deceleration [m/s^2]
- min velocity [m/s] the velocity that is allowed on the road.
- original_velocity [m/s]
set minimum velocity for path point after occlusion spot.
end note
}
stop
@enduml
Detail process for predicted object(not updated)
@startuml
title modifyPathVelocity
start
partition process_path {
:clip path by length;
note right
100m considering perception range
end note
:interpolate ego path;
:get closest index from ego position in interpolated path;
:extract target road type start/end distance by arc length;
}
partition preprocess_dynamic_object {
:get parked vehicle from dynamic object array;
note right
target parked vehicle is define as follow .
- dynamic object's semantic type is "car","bus","track".
- velocity is below `stuck_vehicle_vel`.
end note
}
:generate_detection_area_polygon;
partition find_possible_collision {
:generate possible collision behind parked vehicle;
note right
- occlusion spot candidate is stuck vehicle polygon 2 points farther which is closer to ego path.
end note
:calculate collision path point and intersection point;
note right
- occlusion spot is calculated by stuck vehicle polygon.
- intersection point is where ego front bumper and darting object will crash.
- collision path point is calculated by arc coordinate consider ego vehicle's geometry.
end note
:calculate safe velocity and safe margin for possible collision;
note right
- safe velocity and safe margin is calculated from performance of ego emergency braking system.
end note
}
partition process_possible_collision {
:filter collision by road type;
:calculate slow down points for possible collision;
:handle collision offset;
:apply safe velocity comparing with allowed velocity;
:insert safe velocity to path;
}
stop
@enduml
Detail process for Occupancy grid base
@startuml
title modifyPathVelocity For Occupancy
start
partition process_path {
:clip path by length;
note right
50m considering occupancy grid range
end note
:interpolate ego path;
:get closest index from ego position in interpolated path;
}
partition occupancy_grid_preprocess {
:convert occupancy grid to image;
note right
convert from occupancy grid to image to use opencv functions.
end note
:remove noise from occupancy to apply dilate and erode;
note right
applying dilate and erode is much better and faster than rule base noise reduction.
end note
:quantize image to categorize to free_space,unknown,occupied;
:convert image to occupancy grid;
note right
convert from occupancy grid to image to use opencv functions.
end note
}
:generate_detection_area_polygon;
partition generate_possible_collision {
:calculate offset from path start to ego;
:generate possible collision from occlusion spot;
note right
- occlusion spot candidate is N by N size unknown cells.
- consider occlusion spot in detection area polygon.
end note
:filter occlusion spot by partition lanelets;
note right
- filter occlusion spot by partition lanelets which prevent pedestrians come out.
end note
:calculate collision path point and intersection point;
note right
- use pedestrian polygon to judge "collision_free" or not.
end note
:calculate safe velocity and safe margin for possible collision;
note right
- safe velocity and safe margin is calculated from the performance of ego emergency braking system.
end note
}
partition handle_possible_collision {
:filter collision by road type;
:calculate slow down points for possible collision;
:handle collision offset;
:apply safe velocity comparing with allowed velocity;
:insert safe velocity to path;
}
stop
@enduml
Changelog for package autoware_behavior_velocity_occlusion_spot_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)
- Contributors: Hayato Mizushima, Yutaka Kondo
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)
- 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>>
- fix(autoware_behavior_velocity_occlusion_spot_module): fix
bugprone-macro-parentheses
(#9712)
- fix: bugprone-error
* fix: fmt ---------
- 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, kobayu858
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
- refactor(autoware_grid_map_utils): prefix folder structure with autoware/ (#9170)
- refactor(autoware_interpolation): prefix package and namespace with autoware (#8088) Co-authored-by: kosuke55 <<kosuke.tnp@gmail.com>>
- fix(behavior_velocity_planner): align the parameters with launcher (#8791) parameters in behavior_velocity_planner aligned
- fix(behavior_velocity_planner): fix cppcheck warnings of virtualCallInConstructor (#8376) Co-authored-by: Ryuta Kambe <<ryuta.kambe@tier4.jp>>
- fix(autoware_behavior_velocity_speed_bump_module): fix
uninitMemberVar
(#8320)
- fix:uninitMemberVar
- fix:clang format
- fix:uninitMemberVar
- fix:clang format
* fix:clang format ---------
- fix(autoware_behavior_velocity_occlusion_module): fix passedByValue (#8211) fix:passedByValue
- feat: add [autoware_]{.title-ref} prefix to [lanelet2_extension]{.title-ref} (#7640)
- refactor(universe_utils/motion_utils)!: add autoware namespace (#7594)
- fix(autoware_behavior_velocity_occlusion_spot_module): fix redundantAssignment bug (#7559)
- 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, Ryuta Kambe, Takayuki Murooka, Yutaka Kondo, Zhe Shen, kobayu858, taisa1