No Stopping Area

Role

This module plans to avoid stop in ‘no stopping area`.

• PassThrough case
  • if ego vehicle go through pass judge point, then ego vehicle can’t stop with maximum jerk and acceleration, so this module doesn’t insert stop velocity. In this case override or external operation is necessary.
• STOP case
  • If there is a stuck vehicle or stop velocity around no_stopping_area, then vehicle stops inside no_stopping_area so this module makes stop velocity in front of no_stopping_area
• GO case
  • else

Limitation

This module allows developers to design vehicle velocity in no_stopping_area module using specific rules. Once ego vehicle go through pass through point, ego vehicle does’t insert stop velocity and does’t change decision from GO. Also this module only considers dynamic object in order to avoid unnecessarily stop.

ModelParameter

Flowchart

```plantuml @startuml title modifyPathVelocity start

if (ego path has “no stopping area” ?) then (yes) else (no) stop endif

partition pass_through_condition { if (ego vehicle is not after dead line?) then (yes) else (no) stop endif if (ego vehicle is stoppable before stop line consider jerk limit?) then (yes) else (no) stop endif } note right

• ego vehicle is already over dead line(1.0[m] forward stop line) Do Not Stop.
• “pass through or not” considering jerk limit is judged only once to avoid chattering. end note

:generate ego “stuck_vehicle_detect_area” polygon; note right “stuck_vehicle_detect_area” polygon includes space of vehicle_length + obstacle_stop_max_distance after “no stopping area” end note

:generate ego “stop_line_detect_area” polygon; note right “stop_line_detect_area” polygon includes space of vehicle_length + margin after “no stopping area” end note

:set current judgement as GO; if (Is stuck vehicle inside “stuck_vehicle_detect_area” polygon?) then (yes) note right only consider stuck vehicle following condition.

• below velocity 3.0 [m/s]
• semantic type of car bus truck or motorbike only consider stop line as following condition.
• low velocity that is in path with lane id is considered. end note if (Is stop line inside “stop_line_detect_area” polygon?) then (yes) :set current judgement as STOP; endif endif

partition set_state_with_margin_time {

if (current judgement 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;

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Changelog for package autoware_behavior_velocity_no_stopping_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>
• Contributors: Mete Fatih Cırıt

0.46.0 (2025-06-20)

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)

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)

  • fix: blind_spot
  • fix: crosswalk
  • fix: detection_area
  • fix: intersection
  • fix: no_drivable_lane
  • fix: no_stopping_area
  • fix: run_out
  • fix: stop_line
  • fix: traffic_light
  • fix: virtual_traffic_light

  * fix: walk_way ---------

• feat(Autoware_planning_factor_interface): replace tier4_msgs with autoware_internal_msgs (#10204)

• Contributors: Hayato Mizushima, Satoshi OTA, Yutaka Kondo, 心刚

0.42.0 (2025-03-03)

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

• feat(autoware_utils): replace autoware_universe_utils with autoware_utils (#10191)

• feat!: replace tier4_planning_msgs/PathWithLaneId with autoware_internal_planning_msgs/PathWithLaneId (#10023)

• feat(planning_test_manager): abstract message-specific functions (#9882)

  • abstract message-specific functions
  • include necessary header
  • adapt velocity_smoother to new test manager
  • adapt behavior_velocity_planner to new test manager

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