Crosswalk

Role

This module judges whether the ego should stop in front of the crosswalk in order to provide safe passage for crosswalk users, such as pedestrians and bicycles, based on the objects’ behavior and surround traffic.

Flowchart

@startuml

title modifyPathVelocity
start
:getPathEndPointsOnCrosswalk;
group apply slow down
  :applySlowDownByLanelet2Map;
  :applySlowDownByOcclusion;
end group
group calculate stop pose
  :getDefaultStopPose;
  :resamplePath;
  :checkStopForCrosswalkUsers;
  :checkStopForObstructionPrevention;
  :checkStopForParkedVehicles;
end group
group apply stop
  :getNearestStopFactor;
  :setSafe;
  :setDistanceToStop;

  if (isActivated() is True?) then (yes)
    :planGo;
  else (no)
    :planStop;
  endif
end group
stop
@enduml

@startuml

title checkStopForCrosswalkUsers
start
group calculate the candidate stop
  :pick the closest stop point against the pedestrians and stop point on map as the preferred stop;
  if (the weak brake distance is closer than the preferred stop?) then (yes)
    :plan to stop at the preferred stop;
  else (no)
    if (the weak brake distance is closer than the limit stop position against the nearest pedestrian?) then (yes)
      :plan to stop by the weak brake distance;
    else (no)
      :plan to stop at the limit stop position against the crosswalk;
    endif
  endif
end group
group check if the candidate stop pose is acceptable as deceleration rate
  if (the stop pose candidate requries stronger deceleration than the parameter?) then (yes)
    :abort to stop.;
  else (no)
    :plan to stop at the candidate stop pose;
  endif
end group
stop

@enduml

Features

Yield the Way to the Pedestrians

Target Object

The crosswalk module handles objects of the types defined by the following parameters in the object_filtering.target_object namespace.

In order to handle the crosswalk users crossing the neighborhood but outside the crosswalk, the crosswalk module creates an attention area around the crosswalk, shown as the yellow polygon in the figure. If the object’s predicted path collides with the attention area, the object will be targeted for yield.

The neighborhood is defined by the following parameter in the object_filtering.target_object namespace.

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Changelog for package autoware_behavior_velocity_crosswalk_module

0.47.0 (2025-08-11)

• 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>

• feat(crosswalk): improve robustness to prevent stop decision from being canceled by transient noise (#11027)

  • feat(crosswalk): improve robustness to prevent stop decision from being canceled by transient noise
  • docs: readme

  * fix: small change ---------

• fix(crosswalk): incorrect stop point calculation (#10922)

• Contributors: Mete Fatih Cırıt, Satoshi OTA

0.46.0 (2025-06-20)

• Merge remote-tracking branch 'upstream/main' into tmp/TaikiYamada/bump_version_base

• feat(crosswalk_module): add infomation to PlanningFactor topic in crosswalk_module (#10759)

  * chore(sync-files.yaml): not synchronize [github-release.yaml]{.title-ref} (#1776) not sync github-release

  • feat(crosswalk_module): set infomation to PlanningFactor topic
  • feat(crosswalk_module): add test
  • wip: create test case
  • fix to parked vehicles stop
  • tidy up
  • fix cmake

  * Revert "chore(sync-files.yaml): not synchronize [github-release.yaml]{.title-ref} (#1776)" This reverts commit 41f03b1e967cfe124197960e41ba7e920e4646aa.

  • apply some review, fix code style
  • apply some review for tests
  • fix out_of_rage error
  • fix: apply suggestions from code review
  • change safety factor detail and rename stuck vehicle to obstruction prevention
  • delete dead variable

  * fix some parameter name ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

• feat(crosswalk_module): add parked vehicles stop feature (#10667)

• Contributors: Kotakku, Maxime CLEMENT, TaikiYamada4

0.45.0 (2025-05-22)

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

• feat(crosswalk): update stop position logic (#10439)

  • update stop pos logic
  • update doc

  * response to the review ---------

• fix(behavior_velocity_crosswalk_module): add missing header (#10552)

• feat(behavior_velocity_planner): only wait for the required subscriptions (#10546)

• Contributors: Masaki Baba, TaikiYamada4, Takayuki Murooka, Yuki TAKAGI

0.44.2 (2025-06-10)

0.44.1 (2025-05-01)

0.44.0 (2025-04-18)

• Merge remote-tracking branch 'origin/main' into humble
• feat(crosswalk_module): consider objects on crosswalk when pedestrian traffic light is red (#10332)
• Contributors: Mehmet Dogru, Ryohsuke Mitsudome

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