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

0.53.0 (2026-09-29)

• Merge remote-tracking branch 'origin/main' into prepare-0.53.0-changelog

• chore(pre-commit): update clang-format to v22.1.5 (#13126)

  • chore(pre-commit): update clang-format to v22.1.5

  * style(pre-commit): autofix ---------

• Contributors: Mete Fatih Cırıt, Ryohsuke Mitsudome

0.52.0 (2026-06-30)

• Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base

• feat(behavior_velocity_blind_spot_module): use Trajectory instead of PathWithLaneId (#11613)

  • use Trajectory instead of PathWithLaneId
  • get rid of deprecated function
  • use new function to clamp velocity
  • remove duplicated utility functions
  • bind time interval with predicted path
  • fix conflict resolve error
  • use remove_const from lanelet2_utils
  • cpp-check:fix mismatch parameter name
  • cpp-check:remove knowncondition

  * cpp-check:remove local variable shadowing ---------Co-authored-by: Sarun MUKDAPITAK <<72495070+sarun-hub@users.noreply.github.com>> Co-authored-by: Sarun Mukdapitak <<sarun.mukda@gmail.com>>

• feat(autoware_vehicle_info_utils): refactor to use createFootprint with base_pose (#12586)

  • refactor universe_utils to transform in createFootprint
  • refactor mission_universe_planner to transform in createFootprint
  • refactor path_optimizer to transform in createFootprint
  • common-evaluator refactor createFootprint to apply base_link internally
  • bpp refactor createFootprint to apply base_link internally

  * bvp refactor createFootprint to apply base_link internally ---------

• Contributors: Mitsuhiro Sakamoto, Sarun MUKDAPITAK, github-actions

0.51.0 (2026-05-01)

• Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base

• chore(behavior_velocity_planner): remove unused lanelet2_extension header (#12293) unused lanelet2_extension in bvp modules Co-authored-by: Mamoru Sobue <<hilo.soblin@gmail.com>>

• chore: organize maintainer (#12138)

• feat(autoware_lanelet2_extension): replace remaining lanelet2_extension utilities functions - bvp packages (#12084)

  • replace getArcCoordinates in bvp packages
  • replace getCenterlineWithOffset in bvp package
  • replace combineLaneletsShape in bvp packages
  • remove log for empty concat_lanelets_opt then return

  * bind reference to optional value ---------

• Contributors: Sarun MUKDAPITAK, Satoshi OTA, github-actions

0.50.0 (2026-02-14)

• Merge remote-tracking branch 'origin/main' into humble

• fix(blind_spot): not enable blindspot in neighbouring same turn direction lanes (#11813)

  • fix(blind_spot): not enable blindspot in neighbouring same turn direction lanes

  * remove unrelated change ---------

• Contributors: Ryohsuke Mitsudome, Zulfaqar Azmi

0.49.0 (2025-12-30)

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