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

0.53.0 (2026-09-29)

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

• chore: update planning param.yaml comments (#13061) update planning param.yaml comments

• chore(planning): update package maintainers (#13186)

• 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 ---------

• fix(behavior_velocity_crosswalk_module): use getHighestProbLabel instead of front() (#12970)

  • fix: getHighestProbLabel not front

  * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>

• Contributors: Kento Yabuuchi, Mete Fatih Cırıt, Ryohsuke Mitsudome, Satoshi OTA, Taeseung Sohn

0.52.0 (2026-06-30)

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>>

• feat(crosswalk): fix nearest stop pose usage in bvp's experimental module (#12265)

  • fix crosswalk module to always choose nearest stop pose (11685)
  • fix crosswalk module by updating previous stop pose before using it (11699)

  * remove unnecessary part in arc-length based trajectory ---------

• fix(crosswalk): skip stop decision when remaining crosswalk width beside ego footprint is below threshold (#12249)

  • fix(crosswalk): skip stop decision when remaining crosswalk width beside ego footprint is below threshold

  * fix: for experimental module ---------

• fix(crosswalk): improve logic to detect stuck vehicle for experimental module (#12248)

  • fix(crosswalk): improve logic to detect stuck vehicle

  * fix: cppcheck error ---------

• perf(planning): use emplace/emplace_back to avoid temporary object creation (#12231)

• fix(crosswalk): improve logic to detect stuck vehicle (#12224)

  • fix(crosswalk): improve logic to detect stuck vehicle

  * fix: ci error ---------

• chore: organize maintainer (#12140)

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

0.50.0 (2026-02-14)

• Merge remote-tracking branch 'origin/main' into humble
• feat(behavior_velocity_crosswalk_module): use Trajectory instead of PathWithLaneId (#11840) Co-authored-by: Mamoru Sobue <<hilo.soblin@gmail.com>> Co-authored-by: pre-commit-ci-lite[bot]

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