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behavior_velocity_out_of_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 dummy_diag_publisher dummy_infrastructure duplicated_node_checker emergency_handler mrm_comfortable_stop_operator mrm_emergency_stop_operator system_error_monitor system_monitor topic_state_monitor velodyne_monitor accel_brake_map_calibrator external_cmd_converter raw_vehicle_cmd_converter steer_offset_estimator vehicle_info_util launch launch_ros autoware_ad_api_specs autoware_adapi_v1_msgs autoware_adapi_version_msgs autoware_auto_common autoware_auto_geometry autoware_auto_control_msgs autoware_auto_geometry_msgs autoware_auto_mapping_msgs autoware_auto_msgs autoware_auto_perception_msgs autoware_auto_planning_msgs autoware_auto_system_msgs autoware_auto_vehicle_msgs autoware_auto_perception_rviz_plugin autoware_auto_tf2 autoware_cmake autoware_lint_common autoware_utils lanelet2_extension autoware_common_msgs autoware_control_msgs autoware_localization_msgs autoware_map_msgs autoware_perception_msgs autoware_planning_msgs autoware_sensing_msgs autoware_system_msgs autoware_vehicle_msgs autoware_point_types autoware_testing bag_time_manager_rviz_plugin component_interface_specs component_interface_tools component_interface_utils cuda_utils fake_test_node geography_utils global_parameter_loader glog_component goal_distance_calculator grid_map_utils interpolation kalman_filter motion_utils object_recognition_utils osqp_interface path_distance_calculator perception_utils polar_grid qp_interface rtc_manager_rviz_plugin signal_processing tensorrt_common tier4_adapi_rviz_plugin tier4_api_utils tier4_automatic_goal_rviz_plugin tier4_autoware_utils tier4_calibration_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_rviz_plugin tier4_datetime_rviz_plugin tier4_debug_rviz_plugin tier4_debug_tools tier4_localization_rviz_plugin tier4_perception_rviz_plugin tier4_planning_rviz_plugin tier4_screen_capture_rviz_plugin tier4_simulated_clock_rviz_plugin tier4_state_rviz_plugin tier4_system_rviz_plugin tier4_target_object_type_rviz_plugin 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 tier4_map_launch tier4_perception_launch tier4_planning_launch tier4_sensing_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch fastrtps cyclonedds lanelet2 lanelet2_core lanelet2_examples lanelet2_io lanelet2_maps lanelet2_matching lanelet2_projection lanelet2_python lanelet2_routing lanelet2_traffic_rules lanelet2_validation sophus angles behaviortree_cpp_v3 bond bond_core bondcpp bondpy smclib test_bond cudnn_cmake_module diagnostic_aggregator diagnostic_common_diagnostics diagnostic_updater diagnostics self_test filters geodesy geographic_info geographic_msgs grid_map grid_map_cmake_helpers grid_map_core grid_map_costmap_2d grid_map_cv grid_map_demos grid_map_filters grid_map_loader grid_map_msgs grid_map_octomap grid_map_pcl grid_map_ros grid_map_rviz_plugin grid_map_sdf grid_map_visualization mrt_cmake_modules nav2_amcl nav2_behavior_tree nav2_behaviors nav2_bringup nav2_bt_navigator nav2_collision_monitor nav2_common nav2_controller nav2_core nav2_costmap_2d costmap_queue dwb_core dwb_critics dwb_msgs dwb_plugins nav2_dwb_controller nav_2d_msgs nav_2d_utils nav2_lifecycle_manager nav2_map_server nav2_msgs nav2_navfn_planner nav2_planner nav2_regulated_pure_pursuit_controller nav2_rotation_shim_controller nav2_rviz_plugins nav2_simple_commander nav2_smac_planner nav2_smoother nav2_system_tests nav2_theta_star_planner nav2_util nav2_velocity_smoother nav2_voxel_grid nav2_waypoint_follower navigation2 dynamic_edt_3d octomap octovis octomap_msgs osqp_vendor pacmod3_msgs pcl_msgs pcl_conversions pcl_ros perception_pcl point_cloud_msg_wrapper radar_msgs can_msgs rqt_tf_tree tensorrt_cmake_module topic_tools topic_tools_interfaces tvm_vendor cv_bridge image_geometry opencv_tests vision_opencv xacro rviz2 rviz_assimp_vendor rviz_common rviz_default_plugins rviz_ogre_vendor rviz_rendering rviz_rendering_tests rviz_visual_testing_framework dummy_perception_publisher fault_injection simple_planning_simulator classformsg node_v2x image_view v4l2_camera can_interface_custom cgi430_can_driver cgi610_driver ARS408_driver data_format_dump data_preprocess_launch lidar_centerpoint_collect lidar_saver message_sync time_cal camera_calibration direct_visual_lidar_calibration multi_lidar_calibration

Package Summary

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

Repository Summary

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

The behavior_velocity_out_of_lane_module package

Additional Links

No additional links.

Maintainers

  • Maxime Clement
  • Tomoya Kimura
  • Shumpei Wakabayashi
  • Takayuki Murooka

Authors

No additional authors.

Out of Lane

Role

out_of_lane is the module that decelerates and stops to prevent the ego vehicle from entering another lane with incoming dynamic objects.

Activation Timing

This module is activated if launch_out_of_lane is set to true.

Inner-workings / Algorithms

The algorithm is made of the following steps.

  1. Calculate the ego path footprints (red).
  2. Calculate the other lanes (magenta).
  3. Calculate the overlapping ranges between the ego path footprints and the other lanes (green).
  4. For each overlapping range, decide if a stop or slow down action must be taken.
  5. For each action, insert the corresponding stop or slow down point in the path.

overview

1. Ego Path Footprints

In this first step, the ego footprint is projected at each path point and are eventually inflated based on the extra_..._offset parameters.

2. Other lanes

In the second step, the set of lanes to consider for overlaps is generated. This set is built by selecting all lanelets within some distance from the ego vehicle, and then removing non-relevant lanelets. The selection distance is chosen as the maximum between the slowdown.distance_threshold and the stop.distance_threshold.

A lanelet is deemed non-relevant if it meets one of the following conditions.

  • It is part of the lanelets followed by the ego path.
  • It contains the rear point of the ego footprint.
  • It follows one of the ego path lanelets.

3. Overlapping ranges

In the third step, overlaps between the ego path footprints and the other lanes are calculated. For each pair of other lane $l$ and ego path footprint $f$, we calculate the overlapping polygons using boost::geometry::intersection. For each overlapping polygon found, if the distance inside the other lane $l$ is above the overlap.minimum_distance threshold, then the overlap is ignored. Otherwise, the arc length range (relative to the ego path) and corresponding points of the overlapping polygons are stored. Ultimately, for each other lane $l$, overlapping ranges of successive overlaps are built with the following information:

  • overlapped other lane $l$.
  • start and end ego path indexes.
  • start and end ego path arc lengths.
  • start and end overlap points.

4. Decisions

In the fourth step, a decision to either slow down or stop before each overlapping range is taken based on the dynamic objects. The conditions for the decision depend on the value of the mode parameter.

Whether it is decided to slow down or stop is determined by the distance between the ego vehicle and the start of the overlapping range (in arc length along the ego path). 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.

Threshold

With the mode set to "threshold", a decision to stop or slow down before a range is made if an incoming dynamic object is estimated to reach the overlap within threshold.time_threshold.

TTC (time to collision)

With the mode set to "ttc", estimates for the times when ego and the dynamic objects reach the start and end of the overlapping range are calculated. This is then used to calculate the time to collision over the period where ego crosses the overlap. If the time to collision is predicted to go bellow the ttc.threshold, the decision to stop or slow down is made.

Intervals

With the mode set to "intervals", the estimated times when ego and the dynamic objects reach the start and end points of the overlapping range are used to create time intervals. These intervals can be made shorter or longer using the intervals.ego_time_buffer and intervals.objects_time_buffer parameters. If the time interval of ego overlaps with the time interval of an object, the decision to stop or slow down is made.

Time estimates
Ego

To estimate the times when ego will reach an overlap, it is assumed that ego travels along its path at its current velocity or at half the velocity of the path points, whichever is higher.

Dynamic objects

Two methods are used to estimate the time when a dynamic objects with reach some point. If objects.use_predicted_paths is set to true, the predicted paths of the dynamic object are used if their confidence value is higher than the value set by the objects.predicted_path_min_confidence parameter. Otherwise, the lanelet map is used to estimate the distance between the object and the point and the time is calculated assuming the object keeps its current velocity.

5. Path update

Finally, for each decision to stop or slow down before an overlapping range, a point is inserted in the path. For a decision taken for an overlapping range with a lane $l$ starting at ego path point index $i$, a point is inserted in the path between index $i$ and $i-1$ such that the ego footprint projected at the inserted point does not overlap $l$. Such point with no overlap must exist since, by definition of the overlapping range, we know that there is no overlap at $i-1$.

If the point would cause a higher deceleration than allowed by the max_accel parameter (node parameter), it is skipped.

Moreover, parameter action.distance_buffer adds an extra distance between the ego footprint and the overlap when possible.

Module Parameters

Parameter Type Description
mode string [-] mode used to consider a dynamic object. Candidates: threshold, intervals, ttc
skip_if_already_overlapping bool [-] if true, do not run this module when ego already overlaps another lane
Parameter /threshold Type Description
time_threshold double [s] consider objects that will reach an overlap within this time
Parameter /intervals Type Description
ego_time_buffer double [s] extend the ego time interval by this buffer
objects_time_buffer double [s] extend the time intervals of objects by this buffer
Parameter /ttc Type Description
threshold double [s] consider objects with an estimated time to collision bellow this value while ego is on the overlap
Parameter /objects Type Description
minimum_velocity double [m/s] ignore objects with a velocity lower than this value
predicted_path_min_confidence double [-] minimum confidence required for a predicted path to be considered
use_predicted_paths bool [-] if true, use the predicted paths to estimate future positions; if false, assume the object moves at constant velocity along all lanelets it currently is located in
Parameter /overlap Type Description
minimum_distance double [m] minimum distance inside a lanelet for an overlap to be considered
extra_length double [m] extra arc length to add to the front and back of an overlap (used to calculate enter/exit times)
Parameter /action Type Description
skip_if_over_max_decel bool [-] if true, do not take an action that would cause more deceleration than the maximum allowed
distance_buffer double [m] buffer distance to try to keep between the ego footprint and lane
slowdown.distance_threshold double [m] insert a slow down when closer than this distance from an overlap
slowdown.velocity double [m] slow down velocity
stop.distance_threshold double [m] insert a stop when closer than this distance from an overlap
Parameter /ego Type Description
extra_front_offset double [m] extra front distance to add to the ego footprint
extra_rear_offset double [m] extra rear distance to add to the ego footprint
extra_left_offset double [m] extra left distance to add to the ego footprint
extra_right_offset double [m] extra right distance to add to the ego footprint
CHANGELOG
No CHANGELOG found.

Wiki Tutorials

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Launch files

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Messages

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Services

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Plugins

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