obstacle_collision_checker

Purpose

obstacle_collision_checker is a module to check obstacle collision for predicted trajectory and publish diagnostic errors if collision is found.

Inner-workings / Algorithms

Flow chart

@startuml
skinparam monochrome true

title obstacle collision checker : update
start

:calculate braking distance;

:resampling trajectory;
note right
to reduce calculation cost
end note
:filter point cloud by trajectory;

:create vehicle foot prints;

:create vehicle passing area;

partition will_collide {

while (has next ego vehicle foot print) is (yes)
  :found collision with obstacle foot print;
  if (has collision with obstacle) then (yes)
      :set diag to ERROR;
      stop
  endif
end while (no)
:set diag to OK;
stop
}

@enduml

Algorithms

Check data

Check that obstacle_collision_checker receives no ground pointcloud, predicted_trajectory, reference trajectory, and current velocity data.

Diagnostic update

If any collision is found on predicted path, this module sets ERROR level as diagnostic status else sets OK.

Inputs / Outputs

Input

Output

Parameters

Assumptions / Known limits

To perform proper collision check, it is necessary to get probably predicted trajectory and obstacle pointclouds without noise.

Changelog for package autoware_obstacle_collision_checker

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
• 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

• Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo

0.39.0 (2024-11-25)

• 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

• Contributors: Esteve Fernandez, Yutaka Kondo

0.38.0 (2024-11-08)

• unify package.xml version to 0.37.0
• refactor(obstacle_collision_checker): move to autoware namespace (#9047)
• Contributors: Maxime CLEMENT, Yutaka Kondo

0.26.0 (2024-04-03)