Out of Lane

Role

There are cases where the ego vehicle footprint goes out of the driving lane, for example when taking a narrow turn with a large vehicle. The out_of_lane module adds deceleration and stop points to the ego trajectory in order to prevent collisions from occurring in these out of lane cases.

Activation

This module is activated if the launch parameter launch_out_of_lane_module is set to true.

Inner-workings / Algorithms

This module calculates if out of lane collisions occur and insert stop point before the collisions if necessary.

The algorithm assumes the input ego trajectory contains accurate time_from_start values in order to calculate accurate time to collisions with the predicted objects.

Next we explain the inner-workings of the module in more details.

1. Ego trajectory footprints

In this first step, the ego footprint is projected at each trajectory point and its size is modified based on the ego.extra_..._offset parameters.

The length of the trajectory used for generating the footprints is limited by the max_arc_length parameter.

2. Other lanelets

In the second step, we calculate the lanelets where collisions should be avoided. We consider all lanelets around the ego vehicle that are not crossed by the trajectory linestring (sequence of trajectory points) or their preceding lanelets.

In the debug visualization, these other lanelets are shown as blue polygons.

3. Out of lane areas

Next, for each trajectory point, we create the corresponding out of lane areas by intersection the other lanelets (from step 2) with the trajectory point footprint (from step 1). Each area is associated with the lanelets overlapped by the area and with the corresponding ego trajectory point.

In the debug visualization, the out of lane area polygon is connected to the corresponding trajectory point by a line.

4. Predicted objects filtering

We filter objects and their predicted paths with the following conditions:

• ignore objects with a speed bellow the minimum_velocity parameter;
• ignore objects coming from behind the ego vehicle if parameter ignore_behind_ego is set to true;
• ignore predicted paths whose confidence value is bellow the predicted_path_min_confidence parameter;
• cut the points of predicted paths going beyond the stop line of a red traffic light if parameter cut_predicted_paths_beyond_red_lights is set to true.

cut_predicted_paths_beyond_red_lights = false	cut_predicted_paths_beyond_red_lights = true

In the debug visualization, the filtered predicted paths are shown in green and the stop lines of red traffic lights are shown in red.

5. Time to collisions

For each out of lane area, we calculate the times when a dynamic object will overlap the area based on its filtered predicted paths.

In the case where parameter mode is set to threshold and the calculated time is less than threshold.time_threshold parameter, then we decide to avoid the out of lane area.

In the case where parameter mode is set to ttc, we calculate the time to collision by comparing the predicted time of the object with the time_from_start field contained in the trajectory point. If the time to collision is bellow the ttc.threshold parameter value, we decide to avoid the out of lane area.

In the debug visualization, the ttc (in seconds) is displayed on top of its corresponding trajectory point. The color of the text is red if the collision should be avoided and green otherwise.

6. Calculate the stop or slowdown point

First, the minimum stopping distance of the ego vehicle is calculated based on the jerk and deceleration constraints set by the velocity smoother parameters.

We then search for the furthest pose along the trajectory where the ego footprint stays inside of the ego lane (calculate in step 2) and constraint the search to be between the minimum stopping distance and the 1st trajectory point with a collision to avoid (as determined in the previous step). The search is done by moving backward along the trajectory with a distance step set by the action.precision parameter.

We first do this search for a footprint expanded with the ego.extra_..._offset, action.longitudinal_distance_buffer and action.lateral_distance_buffer parameters. If no valid pose is found, we search again while only considering the extra offsets but without considering the distance buffers. If still no valid pose is found, we use the base ego footprint without any offset. In case no pose is found, we fallback to using the pose before the detected collision without caring if it is out of lane or not.

Whether it is decided to slow down or stop is determined by the distance between the ego vehicle and the trajectory point to avoid. If this distance is bellow the actions.slowdown.threshold, a velocity of actions.slowdown.velocity will be used. If the distance is bellow the actions.stop.threshold, a velocity of 0m/s will be used.

In addition, if parameter action.use_map_stop_lines is set to true, then the stop point may be moved to the earliest stop line preceding the stop point where ego can comfortably stop. Stop lines are defined in the vector map and must be attached to one of the lanelet followed by the ego trajectory.

About stability of the stop/slowdown pose

As the input trajectory can change significantly between iterations, it is expected that the decisions of this module will also change. To make the decision more stable, a stop or slowdown pose is used for a minimum duration set by the action.min_duration parameter. If during that time a new pose closer to the ego vehicle is generated, then it replaces the previous one. Otherwise, the stop or slowdown pose will only be discarded after no out of lane collision is detection for the set duration.

Module Parameters

Changelog for package autoware_motion_velocity_out_of_lane_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(out_of_lane): fix object path time collision calculation (#10267) fix collision time calculation
• feat(out_of_lane): add option to use stop lines defined in the vector map (#9584)
• fix(out_of_lane): fix condition to keep using previous stop pose within some time buffer (#10140)
• Contributors: Hayato Mizushima, Maxime CLEMENT, Yutaka Kondo, mkquda

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)
• fix: add missing includes to autoware_universe_utils (#10091)
• feat(motion_velocity_planner): common implementation for motion_velocity_obstacle_<stop/slow_down/cruise>_module (#10035)
  • feat(motion_velocity_planner): prepare for motion_velocity_<stop/slow_down/cruise>_module

  * update launch ---------

• Contributors: Fumiya Watanabe, Ryohsuke Mitsudome, Takayuki Murooka, 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(motion_velocity_planner)!: add _universe suffix to autoware_motion_velocity_planner_common and autoware_motion_velocity_planner_node (#9942)
• 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(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(motion_velocity_planner): introduce Object/Pointcloud structure in PlannerData (#9812)
  • feat: new object/pointcloud struct in motion velocity planner
  • update planner_data
  • modify modules

  * fix

• feat(motion_velocity_planner): remove unnecessary tier4_planning_msgs dependency (#9757)
  • feat(motion_velocity_planner): remove unnecessary tier4_planning_msgs dependency

  * fix

• feat(motion_velocity_planner): use Float64Stamped in autoware_internal_debug_msgs (#9745)
• Contributors: Fumiya Watanabe, Mamoru Sobue, Ryohsuke Mitsudome, 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)
• 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)
• refactor(traffic_light_utils): prefix package and namespace with autoware (#9251)
• 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

• fix(out_of_lane): correct calculations of the stop pose (#9209)
• Contributors: Esteve Fernandez, Fumiya Watanabe, Maxime CLEMENT, 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(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

• fix(out_of_lane): correct calculations of the stop pose (#9209)
• Contributors: Esteve Fernandez, Maxime CLEMENT, Yutaka Kondo

0.38.0 (2024-11-08)

• unify package.xml version to 0.37.0
• perf(out_of_lane): use intersection with other lanes instead of difference with ego lane (#8870)
• chore(motion_velocity_planner): add Alqudah Mohammad as maintainer (#8877)
• chore(planning): consistent parameters with autoware_launch (#8915)
  • chore(planning): consistent parameters with autoware_launch
  • update

  * fix json schema ---------

• fix(motion_planning): align the parameters with launcher (#8792) parameters in motion_planning aligned
• docs(out_of_lane): update documentation for the new design (#8692)
• fix(out_of_lane): fix a bug with the rtree reference deleted nodes (#8679)
• fix(out_of_lane): fix noConstructor cppcheck warning (#8636)
• feat(out_of_lane): redesign to improve accuracy and performance (#8453)
• perf(out_of_lane): use rtree to get stop lines and trajectory lanelets (#8439)
• chore(out_of_lane): add Mamoru SOBUE as maintainer (#8440)
• feat(out_of_lane): also apply lat buffer between the lane and stop pose (#7918)
• feat(out_of_lane): ignore objects coming from behind ego (#7891)
• fix(autoware_motion_velocity_out_of_lane_module): fix constParameterReference (#8051) fix:constParameterReference
• perf(motion_velocity_planner): resample trajectory after vel smoothing (#7732)
  • perf(dynamic_obstacle_stop): create rtree with packing algorithm

  * Revert "perf(out_of_lane): downsample the trajectory to improve performance (#7691)" This reverts commit 8444a9eb29b32f500be3724dd5662013b9b81060. * perf(motion_velocity_planner): resample trajectory after vel smoothing ---------

• feat: add [autoware_]{.title-ref} prefix to [lanelet2_extension]{.title-ref} (#7640)
• perf(out_of_lane): downsample the trajectory to improve performance (#7691)
• feat(motion_velocity_planner, lane_departure_checker): add processing time Float64 publishers (#7683)
• feat(motion_velocity_planner): publish processing times (#7633)
• 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(route_handler)!: rename to include/autoware/{package_name} (#7530) refactor(route_handler)!: rename to include/autoware/{package_name}
• feat(motion_velocity_planner): rename include directories (#7523)
• refactor(route_handler): route handler add autoware prefix (#7341)
  • rename route handler package
  • update packages dependencies
  • update include guards
  • update includes
  • put in autoware namespace
  • fix formats

  * keep header and source file name as before ---------

• refactor(vehicle_info_utils)!: prefix package and namespace with autoware (#7353)
  • chore(autoware_vehicle_info_utils): rename header
  • chore(bpp-common): vehicle info
  • chore(path_optimizer): vehicle info
  • chore(velocity_smoother): vehicle info
  • chore(bvp-common): vehicle info
  • chore(static_centerline_generator): vehicle info
  • chore(obstacle_cruise_planner): vehicle info
  • chore(obstacle_velocity_limiter): vehicle info
  • chore(mission_planner): vehicle info
  • chore(obstacle_stop_planner): vehicle info
  • chore(planning_validator): vehicle info
  • chore(surround_obstacle_checker): vehicle info
  • chore(goal_planner): vehicle info
  • chore(start_planner): vehicle info
  • chore(control_performance_analysis): vehicle info
  • chore(lane_departure_checker): vehicle info
  • chore(predicted_path_checker): vehicle info
  • chore(vehicle_cmd_gate): vehicle info
  • chore(obstacle_collision_checker): vehicle info
  • chore(operation_mode_transition_manager): vehicle info
  • chore(mpc): vehicle info
  • chore(control): vehicle info
  • chore(common): vehicle info
  • chore(perception): vehicle info
  • chore(evaluator): vehicle info
  • chore(freespace): vehicle info
  • chore(planning): vehicle info
  • chore(vehicle): vehicle info
  • chore(simulator): vehicle info
  • chore(launch): vehicle info
  • chore(system): vehicle info
  • chore(sensing): vehicle info

  * fix(autoware_joy_controller): remove unused deps ---------

• feat(motion_velocity_planner): use polling subscriber to efficiently get messages (#7223)
  • feat(motion_velocity_planner): use polling subscriber for odometry topic
  • use polling subscribers for more topics
  • remove blocking mutex lock when processing traffic lights

  * fix assign after return ---------

• feat!: replace autoware_auto_msgs with autoware_msgs for planning modules (#7246) Co-authored-by: Cynthia Liu <<cynthia.liu@autocore.ai>> Co-authored-by: NorahXiong <<norah.xiong@autocore.ai>> Co-authored-by: beginningfan <<beginning.fan@autocore.ai>>
• feat(motion_velocity_planner): add new motion velocity planning (#7064)
• Contributors: Kosuke Takeuchi, Maxime CLEMENT, Ryohsuke Mitsudome, Satoshi OTA, Takayuki Murooka, Yutaka Kondo, Zhe Shen, kobayu858, mkquda

0.26.0 (2024-04-03)