Surround Obstacle Checker

Purpose

This module subscribes required data (ego-pose, obstacles, etc), and publishes zero velocity limit to keep stopping if any of stop conditions are satisfied.

Inner-workings / Algorithms

Flow chart

@startuml

title surround obstacle checker
start

if (Check state) then
  :State::STOP;

  if (Is stop required?) then (yes)
  else (no)
    :Clear velocity limit;
    :Set state to State::PASS;
  endif

else
  :State::PASS;

  if (Is stop required?) then (yes)
    :Set velocity limit;
    :Set state to State::STOP;
  else (no)
  endif

endif

stop
@enduml

Algorithms

Check data

Check that surround_obstacle_checker receives no ground pointcloud, dynamic objects and current velocity data.

Get distance to nearest object

Calculate distance between ego vehicle and the nearest object. In this function, it calculates the minimum distance between the polygon of ego vehicle and all points in pointclouds and the polygons of dynamic objects.

Stop requirement

If it satisfies all following conditions, it plans stopping.

• Ego vehicle is stopped
• It satisfies any following conditions
  1. The distance to nearest obstacle satisfies following conditions
     • If state is State::PASS, the distance is less than surround_check_distance
     • If state is State::STOP, the distance is less than surround_check_recover_distance
  2. If it does not satisfies the condition in 1, elapsed time from the time it satisfies the condition in 1 is less than state_clear_time

States

To prevent chattering, surround_obstacle_checker manages two states. As mentioned in stop condition section, it prevents chattering by changing threshold to find surround obstacle depending on the states.

• State::PASS : Stop planning is released
• State::STOP ：While stop planning

Inputs / Outputs

Input

Output

Parameters

{{ json_to_markdown(“planning/autoware_surround_obstacle_checker/schema/surround_obstacle_checker.schema.json”) }}

Assumptions / Known limits

To perform stop planning, it is necessary to get obstacle pointclouds data. Hence, it does not plan stopping if the obstacle is in blind spot.

Changelog for package autoware_surround_obstacle_checker

0.44.0 (2025-04-18)

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)
• feat: adaption to ROS nodes guidelines about directory structure (#10268)
• feat(Autoware_planning_factor_interface): replace tier4_msgs with autoware_internal_msgs (#10204)
• Contributors: Hayato Mizushima, NorahXiong, Ryohsuke Mitsudome, 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)
• Contributors: Fumiya Watanabe, 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
• 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(autoware_surround_obstacle_checker): tier4_debug_msgs changed to autoware_internal_debug_msgs in autoware_surround_obstacle_checker (#9915) feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in files planning/autoware_surround_obstacle_checker
• Contributors: Fumiya Watanabe, Mamoru Sobue, Satoshi OTA, 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 - planning (#9570)
• ci(pre-commit): autoupdate (#8949) Co-authored-by: M. Fatih Cırıt <<mfc@autoware.org>>
• fix(surround_obstacle_checker)!: remove stop reason (#9450) fix(surround_obstacle_checker): remove stop reason
• 0.39.0
• update changelog
• fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
• fix(autoware_surround_obstacle_checker): fix clang-diagnostic-unused-private-field (#9399)
  • fix: clang-diagnostic-unused-private-field
  • refactor: fmt
  • refactor: fmt
  • refactor: fmt

  * fix: hpp ---------

• 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, Satoshi OTA, Yutaka Kondo, awf-autoware-bot[bot], kobayu858

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
• feat(costmap_generator, control_validator, scenario_selector, surround_obstacle_checker, vehicle_cmd_gate): add processing time pub. (#9065)
  • feat(costmap_generator, control_validator, scenario_selector, surround_obstacle_checker, vehicle_cmd_gate): Add: processing_time_pub
  • fix: pre-commit
  • feat(costmap_generator): fix: No output when not Active.
  • fix: clang-format

  * Re: fix: clang-format ---------

• test(surround_obstacle_checker): add unit tests (#9039)
  • refactor: isStopRequired
  • test: write test for isStopRequired
  • refactor: use universe utils

  * fix: shutdown ---------

• fix(other_planning_packages): align the parameters with launcher (#8793)
  • parameters in planning/others aligned

  * update json ---------

• fix(autoware_surround_obstacle_checker): fix unusedFunction (#8774) fix:unusedFunction
• feat(surround_obstacle_checker): integrate generate_parameter_library (#8719)
  • add generate_parameter_library to package
  • add parameter file generator script
  • use mapped parameters
  • integrate generate_parameter_library
  • style(pre-commit): autofix
  • check to use dynamic object
  • remove default values

  * fix variable shadowing ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>

• fix(autoware_surround_obstacle_checker): fix passedByValue (#8206) fix:passedByValue
• fix(autoware_surround_obstacle_checker): fix constVariableReference (#8059) fix:constVariableReference
• fix(autoware_surround_obstacle_checker): fix funcArgNamesDifferent (#8020) fix:funcArgNamesDifferent
• 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>>
• feat(surround_obstacle_checker): remove include directory (#7507)
  • feat(surround_obstacle_checker): remove include directory
  • fix

  * fix

• fix(planning): set single depth sensor data qos for pointlcoud polling subscribers (#7490) set single depth sensor data qos for pointlcoud polling subscribers
• 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 ---------

• refactor(surround_obstacle_checker)!: prefix package and namespace with autoware (#7298)
  • fix(autoware_surround_obstacle_checker): rename
  • fix(autoware_surround_obstacle_checker): rename header

  * fix(launch): update package name ---------

• Contributors: Kazunori-Nakajima, Kosuke Takeuchi, Mitsuhiro Sakamoto, Satoshi OTA, Takayuki Murooka, Yutaka Kondo, Zhe Shen, kobayu858, mkquda

0.26.0 (2024-04-03)