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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 | 2025-04-04 |
| 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
Additional Links
Maintainers
- Takayuki Murooka
- Yuki Takagi
- Maxime Clement
- Arjun Ram
Authors
Obstacle Slow Down
Role
The obstacle_slow_down module does the slow down planning when there is a static/dynamic obstacle near the trajectory.
Activation
This module is activated if the launch parameter launch_obstacle_slow_down_module is set to true.
Inner-workings / Algorithms
Obstacle Filtering
Among obstacles which are not for cruising and stopping, the obstacles meeting the following condition are determined as obstacles for slowing down.
- The object type is for slowing down according to
obstacle_filtering.object_type.*. - The lateral distance from the object to the ego’s trajectory is smaller than
obstacle_filtering.max_lat_margin.
Slow Down Planning
The role of the slow down planning is inserting slow down velocity in the trajectory where the trajectory points are close to the obstacles. The parameters can be customized depending on the obstacle type, making it possible to adjust the slow down behavior depending if the obstacle is a pedestrian, bicycle, car, etc. Each obstacle type has a static and a moving parameter set, so it is possible to customize the slow down response of the ego vehicle according to the obstacle type and if it is moving or not. If an obstacle is determined to be moving, the corresponding moving set of parameters will be used to compute the vehicle slow down, otherwise, the static parameters will be used. The static and moving separation is useful for customizing the ego vehicle slow down behavior to, for example, slow down more significantly when passing stopped vehicles that might cause occlusion or that might suddenly open its doors.
An obstacle is classified as static if its total speed is less than the moving_object_speed_threshold parameter. Furthermore, a hysteresis based approach is used to avoid chattering, it uses the moving_object_hysteresis_range parameter range and the obstacle’s previous state (moving or static) to determine if the obstacle is moving or not. In other words, if an obstacle was previously classified as static, it will not change its classification to moving unless its total speed is greater than moving_object_speed_threshold + moving_object_hysteresis_range. Likewise, an obstacle previously classified as moving, will only change to static if its speed is lower than moving_object_speed_threshold - moving_object_hysteresis_range.
The closest point on the obstacle to the ego’s trajectory is calculated. Then, the slow down velocity is calculated by linear interpolation with the distance between the point and trajectory as follows.
| Variable | Description |
|---|---|
v_{out} |
calculated velocity for slow down |
v_{min} |
min_lat_velocity |
v_{max} |
max_lat_velocity |
l_{min} |
min_lat_margin |
l_{max} |
max_lat_margin |
l'_{max} |
obstacle_filtering.max_lat_margin |
The calculated velocity is inserted in the trajectory where the obstacle is inside the area with obstacle_filtering.max_lat_margin.
Debugging
Obstacle for slow down
Yellow sphere which is an obstacle for slow_down is visualized by obstacles_to_slow_down in the ~/debug/marker topic.
Yellow wall which means a safe distance to slow_down if the ego’s front meets the wall is visualized in the ~/debug/slow_down/virtual_wall topic.
Changelog for package autoware_motion_velocity_obstacle_slow_down_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)
- feat!: replace VelocityLimit messages with autoware_internal_planning_msgs (#10273)
- fix(obstacle stop/slow_down): early return without point cloud
(#10289)
- fix(obstacle stop/slow_down): early return without point cloud
* update maintainer ---------
- feat(Autoware_planning_factor_interface): replace tier4_msgs with autoware_internal_msgs (#10204)
- Contributors: Hayato Mizushima, Ryohsuke Mitsudome, Takayuki Murooka, 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(autoware_motion_velocity_obstacle_<stop/slow_down>_module): brings Point Cloud handling to this module (#10112) pointcloud handling for slowdown and stop module
- feat(autoware_objects_of_interest_marker_interface): replace autoware_universe_utils with autoware_utils (#10174)
- feat: introduce
motion_velocity_obstacle_<stop/slow_down/cruise>_module
(#9807)
- implement obstacle stop, slow_down, and cruise
- fix clang-tidy
* revert obstacle_cruise_planner ---------
- Contributors: Arjun Jagdish Ram, Fumiya Watanabe, Ryohsuke Mitsudome, Takayuki Murooka, 心刚
- 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_motion_velocity_obstacle_<stop/slow_down>_module): brings Point Cloud handling to this module (#10112) pointcloud handling for slowdown and stop module
- feat(autoware_objects_of_interest_marker_interface): replace autoware_universe_utils with autoware_utils (#10174)
- feat: introduce
motion_velocity_obstacle_<stop/slow_down/cruise>_module
(#9807)
- implement obstacle stop, slow_down, and cruise
- fix clang-tidy
* revert obstacle_cruise_planner ---------
- Contributors: Arjun Jagdish Ram, Fumiya Watanabe, Ryohsuke Mitsudome, Takayuki Murooka, 心刚
Wiki Tutorials
Package Dependencies
System Dependencies
| Name |
|---|
| libboost-dev |