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autoware_behavior_velocity_traffic_light_module package from autoware_universe repo

autoware_adapi_specs autoware_agnocast_wrapper autoware_auto_common autoware_component_interface_specs_universe autoware_component_interface_tools autoware_component_interface_utils autoware_cuda_dependency_meta autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_path_distance_calculator autoware_polar_grid autoware_time_utils autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_performance_analysis autoware_control_validator autoware_external_cmd_selector autoware_joy_controller autoware_lane_departure_checker autoware_mpc_lateral_controller autoware_obstacle_collision_checker autoware_operation_mode_transition_manager autoware_pid_longitudinal_controller autoware_predicted_path_checker autoware_pure_pursuit autoware_shift_decider autoware_smart_mpc_trajectory_follower autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_control_evaluator autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter tier4_autoware_api_launch tier4_control_launch tier4_localization_launch tier4_map_launch tier4_perception_launch tier4_planning_launch tier4_sensing_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch autoware_geo_pose_projector autoware_gyro_odometer autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_ndt_scan_matcher autoware_pose2twist autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_initializer autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_tf_generator autoware_bytetrack autoware_cluster_merger autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_range_splitter autoware_object_velocity_splitter autoware_occupancy_grid_map_outlier_filter autoware_probabilistic_occupancy_grid_map autoware_radar_crossing_objects_noise_filter autoware_radar_fusion_to_detected_object autoware_radar_object_clustering autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simple_object_merger autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_mission_planner_universe autoware_obstacle_cruise_planner autoware_obstacle_stop_planner autoware_path_optimizer autoware_path_smoother autoware_planning_validator autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker 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_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_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_livox_tag_filter autoware_carla_interface autoware_dummy_perception_publisher autoware_fault_injection autoware_learning_based_vehicle_model autoware_simple_planning_simulator autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_bluetooth_monitor autoware_component_monitor autoware_component_state_monitor autoware_default_adapi autoware_adapi_adaptors autoware_adapi_visualizers autoware_automatic_pose_initializer autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_utils autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_duplicated_node_checker autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_processing_time_checker autoware_system_diagnostic_monitor autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor reaction_analyzer autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_mission_details_overlay_rviz_plugin autoware_overlay_rviz_plugin autoware_string_stamped_rviz_plugin autoware_perception_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_datetime_rviz_plugin tier4_localization_rviz_plugin tier4_planning_factor_rviz_plugin tier4_planning_rviz_plugin tier4_state_rviz_plugin tier4_system_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

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

The autoware_behavior_velocity_traffic_light_module package

Additional Links

No additional links.

Maintainers

  • Satoshi Ota
  • Tomoya Kimura
  • Shumpei Wakabayashi
  • Mamoru Sobue

Authors

  • Satoshi Ota

Traffic Light

Role

Judgement whether a vehicle can go into an intersection or not by traffic light status, and planning a velocity of the stop if necessary. This module is designed for rule-based velocity decision that is easy for developers to design its behavior. It generates proper velocity for traffic light scene.

brief

Limitations

This module allows developers to design STOP/GO in traffic light module using specific rules. Due to the property of rule-based planning, the algorithm is greatly depends on object detection and perception accuracy considering traffic light. Also, this module only handles STOP/Go at traffic light scene, so rushing or quick decision according to traffic condition is future work.

Activation Timing

This module is activated when there is traffic light in ego lane.

Algorithm

  1. Obtains a traffic light mapped to the route and a stop line correspond to the traffic light from a map information.

    • If a corresponding traffic light signal have never been found, it treats as a signal to pass.

    • If a corresponding traffic light signal is found but timed out, it treats as a signal to stop.

  2. Uses the highest reliability one of the traffic light recognition result and if the color of that was not green or corresponding arrow signal, generates a stop point.

    • If an elapsed time to receive stop signal is less than stop_time_hysteresis, it treats as a signal to pass. This feature is to prevent chattering.
  3. When vehicle current velocity is

    • higher than yellow_light_stop_velocity m/s ⇒ pass judge(using next slide formula)

    • lower than yellow_light_stop_velocity m/s ⇒ stop

  4. When it to be judged that vehicle can’t stop before stop line, autoware chooses one of the following behaviors

    • “can pass through” stop line during yellow lamp => pass

    • “can’t pass through” stop line during yellow lamp => emergency stop

Dilemma Zone

brief

  • yellow lamp line

    It’s called “yellow lamp line” which shows the distance traveled by the vehicle during yellow lamp.

  • dilemma zone

    It’s called “dilemma zone” which satisfies following conditions:

    • vehicle can’t pass through stop line during yellow lamp.(right side of the yellow lamp line)

    • vehicle can’t stop under deceleration and jerk limit.(left side of the pass judge curve)

      ⇒emergency stop(relax deceleration and jerk limitation in order to observe the traffic regulation)

  • optional zone

    It’s called “optional zone” which satisfies following conditions:

    • vehicle can pass through stop line during yellow lamp.(left side of the yellow lamp line)

    • vehicle can stop under deceleration and jerk limit.(right side of the pass judge curve)

      ⇒ stop(autoware selects the safety choice)

Module Parameters

Parameter Type Description
stop_margin double [m] margin before stop point
tl_state_timeout double [s] time out for detected traffic light result.
stop_time_hysteresis double [s] time threshold to decide stop planning for chattering prevention
yellow_lamp_period double [s] time for yellow lamp
yellow_light_stop_velocity double [m/s] velocity threshold for always stopping at a yellow light.
enable_pass_judge bool [-] whether to use pass judge

Flowchart

@startuml
title modifyPathVelocity
start

:calc stop point and insert index;

:find offset segment;

:calculate stop pose;

:calculate distance to stop line;

if (state is APPROACH) then (yes)
  :set stop velocity;
  if (distance to stop point is below singed dead line length(-2[m])) then (yes)
    :change state to GO_OUT;
    stop
  elseif (no stop signal) then (yes)
    :change previous state to PASS;
    stop
  elseif (not pass through) then (yes)
    :insert stop pose;
    :change previous state to STOP;
    stop
  else(no)
    stop
  endif
elseif(state is GO_OUT) then (yes)
  if (signed arc length to stop line is more than restart length(1[m])) then (yes)
    :change state to APPROACH;
  endif
  stop
else(no)
  stop
endif

@enduml

Known Limits
  • tbd.
CHANGELOG

Changelog for package autoware_behavior_velocity_traffic_light_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 ---------

  • fix(stopline, traffic_light): fix planning factor distance value (#10245)
  • feat(Autoware_planning_factor_interface): replace tier4_msgs with autoware_internal_msgs (#10204)
  • Contributors: Hayato Mizushima, Mamoru Sobue, 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(autoware_behavior_velocity_traffic_light_module): adjust velocity threshold for ensure stop at yellow light (#10064)
  • 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, Tomoya Kimura, 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)
  • ci(pre-commit): autoupdate (#8949) Co-authored-by: M. Fatih Cırıt <<mfc@autoware.org>>
  • feat(behavior_velocity_planner)!: remove stop_reason (#9452)
  • refactor(autoware_behavior_velocity_planner_common,autoware_behavior_velocity_planner): separate param files (#9470)
    • refactor(autoware_behavior_velocity_planner_common,autoware_behavior_velocity_planner): separate param files

    * Update planning/autoware_static_centerline_generator/test/test_static_centerline_generator.test.py Co-authored-by: Kyoichi Sugahara <<32741405+kyoichi-sugahara@users.noreply.github.com>> * fix ——

    Co-authored-by: Kyoichi Sugahara <<32741405+kyoichi-sugahara@users.noreply.github.com>>

  • 0.39.0
  • update changelog
  • fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
  • refactor(traffic_light_utils): prefix package and namespace with autoware (#9251)
  • 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

  • Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Mamoru Sobue, Ryohsuke Mitsudome, Yukinari Hisaki, Yutaka Kondo, awf-autoware-bot[bot]

0.39.0 (2024-11-25)

0.38.0 (2024-11-08)

  • unify package.xml version to 0.37.0
  • test(traffic_light): write test for utils (#9046)
    • refactor: separate utils file
    • refactor: utils function output
    • test: write test for utils

    * chore: add doxygen ---------

  • fix(behavior_velocity_traffic_light): make dilemma_zone_plotter.py executable (#8684)
  • feat(traffic_light): add dilemma_zone_plotter.py (#8638)
    • feat(traffic_light): add dilemma_zone_plotter.py
    • fix typo

    * fix typo ---------

  • fix(behavior_velocity_planner): fix cppcheck warnings of virtualCallInConstructor (#8376) Co-authored-by: Ryuta Kambe <<ryuta.kambe@tier4.jp>>
  • fix(autoware_behavior_velocity_traffic_light_module): fix uninitMemberVar (#8317) fix:funinitMemberVar
  • feat: add [autoware_]{.title-ref} prefix to [lanelet2_extension]{.title-ref} (#7640)
  • 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, Satoshi OTA, Takayuki Murooka, Yutaka Kondo, kobayu858, taisa1

0.26.0 (2024-04-03)

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