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autoware_collision_detector package from autoware_universe repo

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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 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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

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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 2025-04-03
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 collision_detector package

Additional Links

No additional links.

Maintainers

  • Kyoichi Sugahara
  • Go Sakayori
  • Tomohito Ando

Authors

  • Shinnosuke Hirakawa
control/autoware_collision_detector/README.md

Collision Detector

Purpose

This module subscribes required data (ego-pose, obstacles, etc), and publishes diagnostics if an object is within a specific distance.

Inner-workings / Algorithms

Flow chart

Algorithms

Check data

Check that collision_detector receives no ground pointcloud, dynamic objects.

Object Filtering

Recognition Assumptions

  1. If the classification changes but it’s considered the same object, the uuid does not change.
  2. It’s possible for the same uuid to be recognized after being lost for a few frames.
  3. Once an object is determined to be excluded, it continues to be excluded for a certain period of time.

Filtering Process

  1. Initial Recognition and Exclusion:

    • The system checks if a newly recognized object’s classification is listed in nearby_object_type_filters.
    • If so, and the object is within the nearby_filter_radius, it is marked for exclusion.

  2. New Object Determination:

    • An object is considered “new” based on its UUID.
    • If the UUID is not found in recent frame data, the object is treated as new.

  3. Exclusion Mechanism:

    • Newly excluded objects are recorded by their UUID.
    • These objects continue to be excluded for a set period (keep_ignoring_time) as long as they maintain the classification specified in nearby_object_type_filters and remain within the nearby_filter_radius.

Get distance to nearest object

Calculate distance between ego vehicle and the nearest object. In this function, it calculates the minimum distance between the polygon of ego vehicle and all points in pointclouds and the polygons of dynamic objects.

Inputs / Outputs

Input

Name Type Description
/perception/obstacle_segmentation/pointcloud sensor_msgs::msg::PointCloud2 Pointcloud of obstacles which the ego-vehicle should stop or avoid
/perception/object_recognition/objects autoware_perception_msgs::msg::PredictedObjects Dynamic objects
/tf tf2_msgs::msg::TFMessage TF
/tf_static tf2_msgs::msg::TFMessage TF static

Output

Name Type Description
/diagnostics diagnostic_msgs::msg::DiagnosticArray Diagnostics

Parameters

Name Type Description Default value
use_pointcloud bool Use pointcloud as obstacle check true
use_dynamic_object bool Use dynamic object as obstacle check true
collision_distance double Distance threshold at which an object is considered a collision. [m] 0.15
nearby_filter_radius double Distance range for filtering objects. Objects within this radius are considered. [m] 5.0
keep_ignoring_time double Time to keep filtering objects that first appeared in the vicinity [sec] 10.0
nearby_object_type_filters object of bool values Specifies which object types to filter. Only objects with true value will be filtered. {unknown: true, others: false}

Assumptions / Known limits

  • This module is based on surround_obstacle_checker
CHANGELOG

Changelog for package autoware_collision_detector

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(autoware_vehicle_info_utils): replace autoware_universe_utils with autoware_utils (#10167)
  • 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)

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 - control (#9565)
  • 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)
  • fix(collision_detector): skip process when odometry is not published (#9308)
    • subscribe odometry
    • fix precommit

    * remove unnecessary log info ---------

  • 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

  • feat(collision_detector): use polling subscriber (#9213) use polling subscriber
  • Contributors: Esteve Fernandez, Fumiya Watanabe, Go Sakayori, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo

0.39.0 (2024-11-25)

0.38.0 (2024-11-08)

  • unify package.xml version to 0.37.0
  • chore(collision_detector): add maintainer (#9184) add maintainer
  • feat(collision_detector): add autoware_collision_detector (#9157)
    • add new package autoware_collision_detector
    • update to latest
    • fix
    • fix reference
    • modify maintainer
    • change definiton from filtering to exclude

    * change description for parameters ---------

  • Contributors: Go Sakayori, Yutaka Kondo

0.26.0 (2024-04-03)

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

  • launch/collision_detector.launch.xml
      • param_path [default: $(find-pkg-share autoware_collision_detector)/config/collision_detector.param.yaml]
      • input_objects [default: /perception/object_recognition/objects]
      • input_pointcloud [default: /perception/obstacle_segmentation/pointcloud]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_collision_detector at Robotics Stack Exchange

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