Lane Departure Checker

The Lane Departure Checker checks if vehicle follows a trajectory. If it does not follow the trajectory, it reports its status via diagnostic_updater.

Features

This package includes the following features:

• Lane Departure: Check if ego vehicle is going to be out of lane boundaries based on output from control module (predicted trajectory).
• Trajectory Deviation: Check if ego vehicle’s pose does not deviate from the trajectory. Checking lateral, longitudinal and yaw deviation.
• Road Border Departure: Check if ego vehicle’s footprint, generated from the control’s output, extends beyond the road border.

Inner-workings / Algorithms

How to extend footprint by covariance

1. Calculate the standard deviation of error ellipse(covariance) in vehicle coordinate.

   1.Transform covariance into vehicle coordinate.

   \[\begin{align} \left( \begin{array}{cc} x_{vehicle}\\ y_{vehicle}\\ \end{array} \right) = R_{map2vehicle} \left( \begin{array}{cc} x_{map}\\ y_{map}\\ \end{array} \right) \end{align}\]

   Calculate covariance in vehicle coordinate.

   \[\begin{align} Cov_{vehicle} &= E \left[ \left( \begin{array}{cc} x_{vehicle}\\ y_{vehicle}\\ \end{array} \right) (x_{vehicle}, y_{vehicle}) \right] \\ &= E \left[ R\left( \begin{array}{cc} x_{map}\\ y_{map}\\ \end{array} \right) (x_{map}, y_{map})R^t \right] \\ &= R E\left[ \left( \begin{array}{cc} x_{map}\\ y_{map}\\ \end{array} \right) (x_{map}, y_{map}) \right] R^t \\ &= R Cov_{map} R^t \end{align}\]

   2.The longitudinal length we want to expand is correspond to marginal distribution of $x_{vehicle}$, which is represented in $Cov_{vehicle}(0,0)$. In the same way, the lateral length is represented in $Cov_{vehicle}(1,1)$. Wikipedia reference here.

2. Expand footprint based on the standard deviation multiplied with footprint_margin_scale.

Interface

Input

• /localization/kinematic_state [nav_msgs::msg::Odometry]
• /map/vector_map [autoware_map_msgs::msg::LaneletMapBin]
• /planning/mission_planning/route [autoware_planning_msgs::msg::LaneletRoute]
• /planning/scenario_planning/trajectory [autoware_planning_msgs::msg::Trajectory]
• /control/trajectory_follower/predicted_trajectory [autoware_planning_msgs::msg::Trajectory]

Output

• [diagnostic_updater] lane_departure : Update diagnostic level when ego vehicle is out of lane.
• [diagnostic_updater] trajectory_deviation : Update diagnostic level when ego vehicle deviates from trajectory.

Parameters

Node Parameters

General Parameters

Parameters For Lane Departure

Parameters For Road Border Departure

Core Parameters

Changelog for package autoware_lane_departure_checker

0.43.0 (2025-03-21)

• Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
• refactor(control): remove unimplemented function declarations (#10314) remove unimplemented function declarations
• chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
• fix(lane_departure_checker): fix trajectory resampling logic to keep given interval (#10221)
  • fix(lane_departure_checker): fix trajectory resampling logic to keep given interval

  * test(lane_departure_checker): add test case for consecutive small distances followed by large distance ---------

• Contributors: Autumn60, Hayato Mizushima, Kyoichi Sugahara, 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)
• 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

• refactor(lane_departure_checker): improve LaneDepartureChecker initialization and parameter handling (#9791) * refactor(lane_departure_checker): improve LaneDepartureChecker initialization and parameter handling ---------

• feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in fil… (#9846)
  • feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in files ontrol/autoware_mpc_lateral_controller

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

• Contributors: Fumiya Watanabe, Kyoichi Sugahara, 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)
• ci(pre-commit): update cpplint to 2.0.0 (#9557)

• test(lane_departure_checker): add unit test for createVehiclePassingAreas (#9548) * test(lane_departure_checker): add unit tests for createVehiclePassingAreas function ---------

• refactor(lane_departure_checker): move member functions to util functions (#9547) * refactor(lane_departure_checker): move member functions to util functions ---------

• fix(cpplint): include what you use - control (#9565)
• test(lane_departure_checker): add tests for calcTrajectoryDeviation(), calcMaxSearchLengthForBoundaries() (#9029)
  • move calcTrajectoryDeviation() to separate files
  • move calcMaxSearchLengthForBoundaries() to separate files
  • add tests for calcTrajectoryDeviation()

  * add tests for calcMaxSearchLengthForBoundaries() ---------Co-authored-by: Kyoichi Sugahara <<32741405+kyoichi-sugahara@users.noreply.github.com>>

• 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)
• feat: suppress warning/error of the empty predicted trajectory by MPC (#9373)
• feat(start_planner, lane_departure_checker): speed up by updating polygons (#9309) speed up by updating polygons
• 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, Kyoichi Sugahara, M. Fatih Cırıt, Mitsuhiro Sakamoto, Ryohsuke Mitsudome, Takayuki Murooka, Yutaka Kondo, awf-autoware-bot[bot], danielsanchezaran

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)
• feat(start_planner, lane_departure_checker): speed up by updating polygons (#9309) speed up by updating polygons
• 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, danielsanchezaran

0.38.0 (2024-11-08)

• unify package.xml version to 0.37.0
• test(lane_departure_checker): add tests for createVehicleFootprints (#8928)
  • move createVehicleFootprints() to seperate files

  * add tests for createVehicleFootprints() ---------

• test(lane_departure_checker): add tests for resampleTrajectory (#8895)
  • move resampleTrajectory() to separate file

  * add tests for resampleTrajectory() ---------

• test(lane_departure_checker): add tests for cutTrajectory (#8887)
  • move cutTrajectory() to separate file

  * add test for cutTrajectory() ---------

• fix(control): align the parameters with launcher (#8789) align the control parameters
• refactor(start_planner, lane_departure_checker): remove redundant calculation in fuseLaneletPolygon (#8682)
  • remove redundant fused lanelet calculation
  • remove unnecessary change
  • add new function
  • fix spelling mistake
  • fix spelling mistake
  • use std::move and lambda funcion for better code
  • add comment for better understanding

  * fix cppcheck ---------

• fix(autoware_lane_departure_checker): not to show error message "trajectory deviation is too large" during manual driving (#8404)
  • update: update not to show error message "trajectory deviation is too large" during manual driving

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

• fix(lane_departure_checker): fix uninitialized variables (#8451) fix(lane_departure_checker): fix uninitialized_variables
• feat(start_planner): add time_keeper (#8254)
  • feat(start_planner): add time_keeper
  • fix
  • fix

  * fix shadow variables ---------

• fix(autoware_lane_departure_checker): fix shadowVariable (#7931) fix:shadowVariable
• refactor(autoware_universe_utils): changed the API to be more intuitive and added documentation (#7443)
  • refactor(tier4_autoware_utils): Changed the API to be more intuitive and added documentation.
  • use raw shared ptr in PollingPolicy::NEWEST
  • update
  • fix

  * Update evaluator/autoware_control_evaluator/include/autoware/control_evaluator/control_evaluator_node.hpp Co-authored-by: danielsanchezaran <<daniel.sanchez@tier4.jp>> ---------Co-authored-by: danielsanchezaran <<daniel.sanchez@tier4.jp>>

• feat: add [autoware_]{.title-ref} prefix to [lanelet2_extension]{.title-ref} (#7640)
• feat(motion_velocity_planner, lane_departure_checker): add processing time Float64 publishers (#7683)
• 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>>
• refactor(control)!: refactor directory structures of the control checkers (#7524)
  • aeb
  • control_validator
  • lane_departure_checker
  • shift_decider

  * fix

• refactor(autoware_lane_departure_checker)!: rename directory name (#7410)
• Contributors: Go Sakayori, Kosuke Takeuchi, Kyoichi Sugahara, Maxime CLEMENT, Mitsuhiro Sakamoto, T-Kimura-MM, Takayuki Murooka, Yuki TAKAGI, Yukinari Hisaki, Yutaka Kondo, Zhe Shen, kobayu858

0.26.0 (2024-04-03)