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autoware_behavior_velocity_speed_bump_module package from autoware_universe repo

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autoware_behavior_path_avoidance_by_lane_change_module 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_motion_velocity_run_out_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_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_livox_tag_filter 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Package Summary

Tags No category tags.
Version 0.44.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_universe.git
VCS Type git
VCS Version main
Last Updated 2025-04-25
Dev Status UNKNOWN
CI status No Continuous Integration
Released UNRELEASED
Tags planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The autoware_behavior_velocity_speed_bump_module package

Additional Links

No additional links.

Maintainers

  • Tomoya Kimura
  • Shumpei Wakabayashi
  • Mehmet Dogru

Authors

No additional authors.
planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/README.md

Speed Bump

Role

This module plans the velocity of the related part of the path in case there is speed bump regulatory element referring to it.

speed_bump_design.svg

Activation Timing

The manager launch speed bump scene module when there is speed bump regulatory element referring to the reference path.

Module Parameters

Parameter Type Description
slow_start_margin double [m] margin for ego vehicle to slow down before speed_bump
slow_end_margin double [m] margin for ego vehicle to accelerate after speed_bump
print_debug_info bool whether debug info will be printed or not

Speed Calculation

  • limits for speed bump height and slow down speed to create a linear equation
Parameter Type Description
min_height double [m] minimum height assumption of the speed bump
max_height double [m] maximum height assumption of the speed bump
min_speed double [m/s] minimum speed assumption of slow down speed
max_speed double [m/s] maximum speed assumption of slow down speed

Inner-workings / Algorithms

  • Get speed bump regulatory element on the path from lanelet2 map
  • Calculate slow_down_speed wrt to speed_bump_height specified in regulatory element or read slow_down_speed tag from speed bump annotation if available

speed_bump_vel_calc

Note: If in speed bump annotation slow_down_speed tag is used then calculating the speed wrt the speed bump height will be ignored. In such case, specified slow_down_speed value in [kph] is being used.

  • Get the intersection points between path and speed bump polygon
  • Calculate slow_start_point & slow_end_point wrt the intersection points and insert them to path
  • If slow_start_point or slow_end_point can not be inserted with given/calculated offset values check if any path point can be virtually assigned as slow_start_point or slow_end_point

speed_bump_scenarios.svg

  • Assign slow_down_speed to the path points between slow_start_point or slow_end_point

Future Work

  • In an article here, a bump modeling method is proposed. Simply it is based on fitting the bump in a circle and a radius calculation is done with it. Although the velocity calculation is based on just the height of the bump in the recent implementation, applying this method is intended in the future which will yield more realistic results.
CHANGELOG

Changelog for package autoware_behavior_velocity_speed_bump_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)
  • 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(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)

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_speed_bump_module): fix uninitMemberVar (#8319) fix:uninitMemberVar
  • feat: add [autoware_]{.title-ref} prefix to [lanelet2_extension]{.title-ref} (#7640)
  • fix(autoware_behavior_velocity_speed_bump_module): fix containerOutOfBounds warning (#7671) fix(autoware_behavior_velocity_speed_bump_module): fix containerOutOfBounds
  • refactor(autoware_behavior_velocity_speed_bump_module): prefix package and namespace with autoware (#7467)
  • Contributors: Esteve Fernandez, Ryuta Kambe, Yutaka Kondo, kobayu858, taisa1

0.26.0 (2024-04-03)

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