Detection Area

Role

If pointcloud or predicted objects are detected in a detection area defined on a map, the stop planning will be executed at the predetermined point.

Activation Timing

This module is activated when there is a detection area on the target lane.

Module Parameters

Inner-workings / Algorithm

1. Gets a detection area and stop line from map information and confirms if there are obstacles in the detection area
2. Inserts stop point l[m] in front of the stop line
3. Calculates required braking distance based on current velocity, max_deceleration, and delay_response_time
4. If the vehicle cannot stop before the stop line, applies the configured unstoppable_policy
5. Sets velocity as zero at the determined stop point

Detection Logic

The module uses two detection sources:

• Pointcloud detection: Detects any obstacles in the detection area using 3D point cloud data (if target_filtering.pointcloud is enabled)
• Predicted objects detection: Detects classified objects (vehicles, pedestrians, etc.) in the detection area based on perception module outputs

The module stops the vehicle if either detection source finds an obstacle. For performance optimization, if pointcloud detection finds an obstacle, predicted objects detection is skipped (short-circuit evaluation).

Flowchart

```plantuml @startuml title modifyPathVelocity start

:check obstacles area;

if (obstacle detected?) then (no) else (yes) :set last time obstacle found; endif

:get clear stop state duration;

if (clear stop state duration is more than state_clear_time?) then (yes) if (suppress_pass_judge_when_stopping is false or ego is moving) then (yes) :set current state GO; endif :reset clear stop state duration; stop else (no) endif

if (use dead line?) then (yes) :create dead line point; if (Is there dead line point?) then (yes) if (Is over dead line point?) then (yes) stop endif endif endif

:calculate stop point;

if (stop point?) then (yes) else (no) stop endif

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Changelog for package autoware_behavior_velocity_detection_area_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(detection_area): set stop point behind actual stop line when ego exceeds max acceleration (#10919)

  • feat(detection_area): set stop point behind actual stop line when ego exceeds max acceleration

  * remove unintended change ---------

• Contributors: Mete Fatih Cırıt, Yukinari Hisaki

0.46.0 (2025-06-20)

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

• feat(detection_area): improve log message (#10797)

  * feat(detection_area): improve log message feat(detection_area): improve log message

  • fix clang-tidy

  * false

• fix(detection_area): fix args for calcJudgeLineDistWithAccLimit (#10777)

• fix(planning): fix links in documentations (#10704)

  • fix(planning): fix links in documentations

  * fix pre-commit ---------

• Contributors: Kosuke Takeuchi, TaikiYamada4, Yuxuan Liu

0.45.0 (2025-05-22)

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

• fix(detection_area_module,virtual_traffic_light,no_stopping_area): support overlap lane (#10623)

• feat(behavior_velocity_planner): extend stop line to path bound (#10435)

  • extend stop line to path bound
  • style(pre-commit): autofix
  • change signature of stop line extension function
  • add tests for detection area module
  • fix test for no stopping area module
  • fix tests for traffic light module
  • include necessary header

  * fix test for detection area module ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

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

• Contributors: Mitsuhiro Sakamoto, TaikiYamada4, Takayuki Murooka, Yukinari Hisaki

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
• fix(detection_area): integrate RTC feature (#10376)
• Contributors: Ryohsuke Mitsudome, Satoshi OTA

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)

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