Blind Spot

Role

Blind spot module checks possible collisions with bicycles and pedestrians running on its left/right side while turing left/right before junctions.

Activation Timing

This function is activated when the lane id of the target path has an intersection label (i.e. the turn_direction attribute is left or right).

Inner-workings / Algorithms

Sets a stop line, a pass judge line, a detection area and conflict area based on a map information and a self position.

• Stop line : Automatically created based on crossing lane information.

• Pass judge line : A position to judge if stop or not to avoid a rapid brake.

• Detection area : Right/left side area of the self position.

• Conflict area : Right/left side area from the self position to the stop line.

Stop/Go state: When both conditions are met for any of each object, this module state is transited to the “stop” state and insert zero velocity to stop the vehicle.

• Object is on the detection area
• Object’s predicted path is on the conflict area

In order to avoid a rapid stop, the “stop” judgement is not executed after the judgment line is passed.

Once a “stop” is judged, it will not transit to the “go” state until the “go” judgment continues for a certain period in order to prevent chattering of the state (e.g. 2 seconds).

Module Parameters

Flowchart

@startuml
title modifyPathVelocity
start

if (ego is turning right or left ?) then (yes)
else (no)
  stop
endif

:calculate pass judge Line;

if (ego vehicle is not after pass judge line?) then (yes)
else (no)
  stop
endif

:check obstacle in blind spot;

if (obstacle found in blind spot?) then (yes)
  :set current state as STOP;
else (no)
  :set current state as GO;
endif

:set state with margin time;

if (current state is same as previous state) then (yes)
  :reset timer;
else if (state is GO->STOP) then (yes)
  :set state as STOP;
  :reset timer;
else if (state is STOP -> GO) then (yes)
  if (start time is not set) then (yes)
    :set start time;
  else(no)
   :calculate duration;
   if(duration is more than margin time)then (yes)
    :set state GO;
    :reset timer;
   endif
  endif
endif


if (state is STOP) then (yes)
  :set stop velocity;

  :set stop reason and factor;
endif

stop
@enduml

Changelog for package autoware_behavior_velocity_blind_spot_module

0.47.0 (2025-08-11)

• feat(blind_spot): new re-designed blind_spot module (#11079) feat(blind_spot): new re-designed blind_spot module(add attention_area)
• style(pre-commit): update to clang-format-20 (#11088) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
• Contributors: Mamoru Sobue, Mete Fatih Cırıt

0.46.0 (2025-06-20)

0.45.0 (2025-05-22)

• Merge remote-tracking branch 'origin/main' into tmp/notbot/bump_version_base
• feat(behavior_velocity_planner): only wait for the required subscriptions (#10546)
• feat(blind_spot): extend attention area to straight lanelet (#10450)
• Contributors: Mamoru Sobue, TaikiYamada4, Takayuki Murooka

0.44.2 (2025-06-10)

0.44.1 (2025-05-01)

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)

• fix(behavior_velocity_planner): planning factor integration (#10292)

  • fix: blind_spot
  • fix: crosswalk
  • fix: detection_area
  • fix: intersection
  • fix: no_drivable_lane
  • fix: no_stopping_area
  • fix: run_out
  • fix: stop_line
  • fix: traffic_light
  • fix: virtual_traffic_light

  * fix: walk_way ---------

• feat(Autoware_planning_factor_interface): replace tier4_msgs with autoware_internal_msgs (#10204)

• Contributors: Hayato Mizushima, Satoshi OTA, 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)

• feat!: replace tier4_planning_msgs/PathWithLaneId with autoware_internal_planning_msgs/PathWithLaneId (#10023)

• feat(planning_test_manager): abstract message-specific functions (#9882)

  • abstract message-specific functions
  • include necessary header
  • adapt velocity_smoother to new test manager
  • adapt behavior_velocity_planner to new test manager
  • adapt path_optimizer to new test manager
  • fix output subscription
  • adapt behavior_path_planner to new test manager
  • adapt scenario_selector to new test manager
  • adapt freespace_planner to new test manager
  • adapt planning_validator to new test manager
  • adapt obstacle_stop_planner to new test manager
  • adapt obstacle_cruise_planner to new test manager
  • disable test for freespace_planner
  • adapt behavior_velocity_crosswalk_module to new test manager
  • adapt behavior_path_lane_change_module to new test manager
  • adapt behavior_path_avoidance_by_lane_change_module to new test manager
  • adapt behavior_path_dynamic_obstacle_avoidance_module to new test manager
  • adapt behavior_path_external_request_lane_change_module to new

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