Detection Area

Role

If pointcloud is 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 is pointcloud in the detection area
2. Inserts stop point l[m] in front of the stop line
3. Inserts a pass judge point to a point where the vehicle can stop with a max deceleration
4. Sets velocity as zero behind the stop line when the ego-vehicle is in front of the pass judge point
5. If the ego vehicle has passed the pass judge point already, it doesn’t stop and pass through.

Flowchart

@startuml
title modifyPathVelocity
start

:get obstacle point cloud in detection area;

if (no obstacle point cloud in detection area?) then (yes)
else (no)
  :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


if (state is not stop and ego vehicle over line?) then (yes)
  stop
endif

if (use pass judge line?) then (yes)
  if (state is not STOP and not enough braking distance?) then (yes)
    stop
  endif
endif

:set state STOP;

:inset stop point;

:append stop reason and stop factor;

stop
@enduml

Restart prevention

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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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