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behavior_velocity_no_drivable_lane_module package from autodrrt repo

autonomous_emergency_braking control_performance_analysis control_validator external_cmd_selector joy_controller lane_departure_checker mpc_lateral_controller obstacle_collision_checker operation_mode_transition_manager pid_longitudinal_controller predicted_path_checker pure_pursuit shift_decider trajectory_follower_base trajectory_follower_node vehicle_cmd_gate diagnostic_converter kinematic_evaluator localization_evaluator planning_evaluator ekf_localizer geo_pose_projector gyro_odometer ar_tag_based_localizer landmark_manager localization_error_monitor localization_util ndt_scan_matcher pose2twist pose_initializer pose_instability_detector stop_filter tree_structured_parzen_estimator twist2accel yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer map_height_fitter map_loader map_projection_loader map_tf_generator lanelet2_map_preprocessor ros2_bevdet ros2_bevformer bevfusion bytetrack cluster_merger compare_map_segmentation crosswalk_traffic_light_estimator detected_object_feature_remover detected_object_validation detection_by_tracker elevation_map_loader euclidean_cluster front_vehicle_velocity_estimator ground_segmentation heatmap_visualizer image_projection_based_fusion lidar_apollo_instance_segmentation lidar_apollo_segmentation_tvm lidar_apollo_segmentation_tvm_nodes lidar_centerpoint lidar_centerpoint_tvm map_based_prediction multi_object_tracker object_merger object_range_splitter object_velocity_splitter occupancy_grid_map_outlier_filter probabilistic_occupancy_grid_map radar_crossing_objects_noise_filter radar_fusion_to_detected_object radar_object_clustering radar_object_tracker radar_tracks_msgs_converter shape_estimation simple_object_merger tensorrt_classifier tensorrt_yolo tensorrt_yolox tracking_object_merger traffic_light_arbiter traffic_light_classifier traffic_light_fine_detector traffic_light_map_based_detector traffic_light_multi_camera_fusion traffic_light_occlusion_predictor traffic_light_ssd_fine_detector traffic_light_visualization behavior_path_avoidance_by_lane_change_module behavior_path_avoidance_module behavior_path_external_request_lane_change_module behavior_path_goal_planner_module behavior_path_lane_change_module behavior_path_planner behavior_path_planner_common behavior_path_side_shift_module behavior_path_start_planner_module behavior_velocity_blind_spot_module behavior_velocity_crosswalk_module behavior_velocity_detection_area_module behavior_velocity_intersection_module behavior_velocity_no_drivable_lane_module behavior_velocity_no_stopping_area_module behavior_velocity_occlusion_spot_module behavior_velocity_out_of_lane_module behavior_velocity_planner behavior_velocity_planner_common behavior_velocity_run_out_module behavior_velocity_speed_bump_module behavior_velocity_stop_line_module behavior_velocity_template_module behavior_velocity_traffic_light_module behavior_velocity_virtual_traffic_light_module behavior_velocity_walkway_module costmap_generator external_velocity_limit_selector freespace_planner freespace_planning_algorithms mission_planner motion_velocity_smoother objects_of_interest_marker_interface obstacle_avoidance_planner obstacle_cruise_planner obstacle_stop_planner obstacle_velocity_limiter path_smoother planning_debug_tools planning_test_utils planning_topic_converter planning_validator route_handler rtc_interface rtc_replayer bezier_sampler frenet_planner path_sampler sampler_common scenario_selector static_centerline_optimizer surround_obstacle_checker gnss_poser image_diagnostics image_transport_decompressor imu_corrector livox_tag_filter pointcloud_preprocessor radar_scan_to_pointcloud2 radar_static_pointcloud_filter radar_threshold_filter radar_tracks_noise_filter tier4_pcl_extensions vehicle_velocity_converter autoware_auto_msgs_adapter bluetooth_monitor component_state_monitor default_ad_api ad_api_adaptors ad_api_visualizers automatic_pose_initializer diagnostic_graph_aggregator 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tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin time_utils simulator_compatibility_test traffic_light_recognition_marker_publisher traffic_light_utils tvm_utility dma_customer_msg dma_transfer eagleye_coordinate eagleye_navigation eagleye_msgs eagleye_rt eagleye_can_velocity_converter eagleye_fix2kml eagleye_geo_pose_converter eagleye_geo_pose_fusion eagleye_gnss_converter eagleye_tf llh_converter morai_msgs mussp ndt_omp orocos_kdl python_orocos_kdl pointcloud_to_laserscan rtklib_bridge rtklib_msgs autoware_external_api_msgs autoware_iv_external_api_adaptor autoware_iv_internal_api_adaptor awapi_awiv_adapter tier4_api_msgs tier4_auto_msgs_converter tier4_control_msgs tier4_debug_msgs tier4_external_api_msgs tier4_hmi_msgs tier4_localization_msgs tier4_map_msgs tier4_perception_msgs tier4_planning_msgs tier4_rtc_msgs tier4_simulation_msgs tier4_system_msgs tier4_v2x_msgs tier4_vehicle_msgs io_opt tier4_autoware_api_launch tier4_control_launch tier4_localization_launch 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Package Summary

Tags No category tags.
Version 0.1.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/ieiauto/autodrrt.git
VCS Type git
VCS Version main
Last Updated 2024-09-19
Dev Status UNKNOWN
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

The behavior_velocity_no_drivable_lane_module package

Additional Links

No additional links.

Maintainers

  • Ahmed Ebrahim
  • Tomoya Kimura
  • Shumpei Wakabayashi
  • Takamasa Horibe
  • Takayuki Murooka
  • Fumiya Watanabe
  • Satoshi Ota

Authors

No additional authors.
src/autodrrt.application/planning/behavior_velocity_no_drivable_lane_module/README.md

No Drivable Lane

Role

This module plans the velocity of the related part of the path in case there is a no drivable lane referring to it.

A no drivable lane is a lanelet or more that are out of operation design domain (ODD), i.e., the vehicle must not drive autonomously in this lanelet.
A lanelet can be no drivable (out of ODD) due to many reasons, either technical limitations of the SW and/or HW, business requirements, safety considerations, …. etc, or even a combination of those.

Some examples of No Drivable Lanes

  • Closed road intentionally, due to construction work for example
  • Underpass road that goes under a railway, for safety reasons
  • Road with slope/inclination that the vehicle is not be able to drive autonomously due to technical limitations. And lots of other examples.

no-drivable-lane-design.svg

A lanelet becomes invalid by adding a new tag under the relevant lanelet in the map file <tag k="no_drivable_lane" v="yes"/>.

The target of this module is to stop the vehicle before entering the no drivable lane (with configurable stop margin) or keep the vehicle stationary if autonomous mode started inside a no drivable lane. Then ask the human driver to take the responsibility of the driving task (Takeover Request / Request to Intervene)

Activation Timing

This function is activated when the lane id of the target path has an no drivable lane label (i.e. the no_drivable_lane attribute is yes).

Module Parameters

Parameter Type Description
stop_margin double [m] margin for ego vehicle to stop before speed_bump
print_debug_info bool whether debug info will be printed or not

Inner-workings / Algorithms

  • Get no_drivable_lane attribute on the path from lanelet2 map
  • The no drivable lane state machine starts in INIT state
  • Get the intersection points between path and no drivable lane polygon
  • Assign the state to APPROACHING toward a no drivable lane if:
    • the distance from front of the ego vehicle till the first intersection point between the ego path and the no drivable lane polygon is more than the stop_margin
  • Assign the state to INSIDE_NO_DRIVABLE_LANE if:
    • the first point of the ego path is inside the no drivable lane polygon, or
    • the distance from front of the ego vehicle till the first intersection point between the ego path and the no drivable lane polygon is less than the stop_margin
  • Assign the state to STOPPED when the vehicle is completely stopped

no_drivable_lane_scenarios.svg

Future Work

  • As Request to Intervene API is not implemented yet, this will be handled to notify the driver to takeover the driving task responsibility after the vehicle stops due to no_drivable_lane
  • Handle the case when the vehicle stops before a no drivable lane but part of its footprint intersects with the no drivable lane polygon.
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