autoware_crosswalk_traffic_light_estimator

Purpose

autoware_crosswalk_traffic_light_estimator estimates pedestrian traffic signals which can be summarized as the following two tasks:

• Estimate pedestrian traffic signals that are not subject to be detected by perception pipeline.
• Estimate whether pedestrian traffic signals are flashing and modify the result.

This module works without ~/input/route, but its behavior is outputting the subscribed results as is.

Inputs / Outputs

Input

Output

Parameters

Inner-workings / Algorithms

When the pedestrian traffic signals are detected by perception pipeline

• If estimates the pedestrian traffic signals are flashing, overwrite the results
• Prefer the output from perception pipeline, but overwrite it if the pedestrian traffic signals are invalid(no detection, backlight, or occlusion)

When the pedestrian traffic signals are NOT detected by perception pipeline

• Estimate the color of pedestrian traffic signals based on detected vehicle traffic signals, HDMap, and route

Estimate whether pedestrian traffic signals are flashing

start
if (the pedestrian traffic light classification result exists)then
    : update the flashing flag according to the classification result(in_signal) and last_signals
    if (the traffic light is flashing?)then(yes)
      : update the traffic light state
    else(no)
      : the traffic light state is the same with the classification result
if (the classification result not exists)
    : the traffic light state is the same with the estimation
 : output the current traffic light state
end

Update flashing flag

Update traffic light status

Estimate the color of pedestrian traffic signals

start
:subscribe detected traffic signals, HDMap, and route;
:extract crosswalk lanelets from HDMap;
:extract road lanelets that conflicts crosswalk from route;
:initialize non_red_lanelets(lanelet::ConstLanelets);
if (Latest detection result is **GREEN** or **AMBER**?) then (yes)
  :push back non_red_lanelets;
else (no)
  if (use_last_detect_color is **true**?) then (yes)
    if (Latest detection result is **UNKNOWN** and last detection result is **GREEN** or **AMBER**?) then (yes)
     :push back non_red_lanelets;
    endif
  endif
endif
if (Is there **STRAIGHT-NON-RED** road lanelet in non_red_lanelets?) then (yes)
  :estimate related pedestrian's traffic signal as **RED**;
else if (Is there both **LEFT-NON-RED** and **RIGHT-NON-RED** road lanelet in non_red_lanelets?) then (yes)
  :estimate related pedestrian's traffic signal as **RED**;
else (no)
  :estimate related pedestrian's traffic signal as **UNKNOWN**;
endif
end

If traffic between pedestrians and vehicles is controlled by traffic signals, the crosswalk traffic signal maybe RED in order to prevent pedestrian from crossing when the following conditions are satisfied.

Situation1

• crosswalk conflicts STRAIGHT lanelet
• the lanelet refers GREEN or AMBER traffic signal (The following pictures show only GREEN case)

Situation2

• crosswalk conflicts different turn direction lanelets (STRAIGHT and LEFT, LEFT and RIGHT, RIGHT and STRAIGHT)
• the lanelets refer GREEN or AMBER traffic signal (The following pictures show only GREEN case)

Assumptions / Known limits

Future extensions / Unimplemented parts

Changelog for package autoware_crosswalk_traffic_light_estimator

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)
• chore(perception): refactor perception launch (#10186)
  • fundamental change
  • style(pre-commit): autofix
  • fix typo
  • fix params and modify some packages
  • pre-commit
  • fix
  • fix spell check
  • fix typo
  • integrate model and label path
  • style(pre-commit): autofix
  • for pre-commit
  • run pre-commit
  • for awsim
  • for simulatior
  • style(pre-commit): autofix
  • fix grammer in launcher
  • add schema for yolox_tlr
  • style(pre-commit): autofix
  • fix file name
  • fix
  • rename
  • modify arg name to
  • fix typo
  • change param name
  • style(pre-commit): autofix

  * chore

  Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com> Co-authored-by: Shintaro Tomie <<58775300+Shin-kyoto@users.noreply.github.com>> Co-authored-by: Kenzo Lobos Tsunekawa <<kenzo.lobos@tier4.jp>>

• Contributors: Hayato Mizushima, Masato Saeki, 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)
• chore: refine maintainer list (#10110)
  • chore: remove Miura from maintainer

  * chore: add Taekjin-san to perception_utils package maintainer ---------

• Contributors: Fumiya Watanabe, Shunsuke Miura, 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
• feat(autoware_crosswalk_traffic_light_estimator)!: tier4_debug_msgs changes to autoware_internal_debug_msgs in autoware_crosswalk_traffic_light_estimator (#9870)
• chore(autoware_crosswalk_traffic_light_estimator): fix docs (#9822)
  • fix docs
  • fix docs
  • add tlr output image
  • modify sentense
  • modify sentense
  • refactor readme
  • fix docs
  • fix

  * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>

• feat(autoware_crosswalk_traffic_light_estimator): overwrite invalid detection result (#9667)
  • add code in order to check invalid detection

  * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>

• Contributors: Fumiya Watanabe, Masato Saeki, Vishal Chauhan

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 - perception (#9569)
• 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: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
• chore(autoware_traffic_light*): add maintainer (#9280)
  • add fundamental commit

  * add forgot package ---------

• 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, Masato Saeki, Ryohsuke Mitsudome, 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(autoware_traffic_light*): add maintainer (#9280)
  • add fundamental commit

  * add forgot package ---------

• 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, Masato Saeki, Yutaka Kondo

0.38.0 (2024-11-08)

• unify package.xml version to 0.37.0
• fix(autoware_crosswalk_traffic_light_estimator): fix constVariableReference (#8055) fix:constVariableReference
• feat: add [autoware_]{.title-ref} prefix to [lanelet2_extension]{.title-ref} (#7640)
• refactor(universe_utils/motion_utils)!: add autoware namespace (#7594)
• feat(autoware_universe_utils)!: rename from tier4_autoware_utils (#7538) Co-authored-by: kosuke55 <<kosuke.tnp@gmail.com>>
• fix(tier4_control_launch, crosswalk_traffic_light_estimator): fix a mistake when adding prefixes (#7423) Fixed a mistake when adding prefixes
• refactor(accel_brake_map_calibrator)!: add autoware_ prefix (#7351) * add prefix to the codes change dir name update update
  • delete debug
  • fix format
  • fix format
  • restore

  * poi

• refactor(crosswalk_traffic_light_estimator)!: add autoware_ prefix (#7365)
  • add prefix
• Contributors: Kosuke Takeuchi, SakodaShintaro, Takayuki Murooka, Yuki TAKAGI, Yutaka Kondo, kobayu858

0.26.0 (2024-04-03)