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autoware_behavior_velocity_traffic_light_module package from autoware_universe repo

autoware_agnocast_wrapper autoware_auto_common autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_component_interface_tools autoware_component_interface_utils autoware_cuda_dependency_meta autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_path_distance_calculator autoware_polar_grid autoware_time_utils autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_command_gate autoware_control_performance_analysis autoware_control_validator autoware_external_cmd_selector autoware_joy_controller autoware_lane_departure_checker autoware_mpc_lateral_controller autoware_obstacle_collision_checker autoware_operation_mode_transition_manager autoware_pid_longitudinal_controller autoware_predicted_path_checker autoware_pure_pursuit autoware_shift_decider autoware_smart_mpc_trajectory_follower autoware_spheric_collision_detector autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_tensorrt_vad autoware_control_evaluator autoware_evaluation_adapter autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose2twist autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion autoware_bytetrack autoware_camera_streampetr autoware_cluster_merger autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_ground_segmentation_cuda autoware_image_object_locator autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_frnet autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_range_splitter autoware_object_sorter autoware_object_velocity_splitter autoware_occupancy_grid_map_outlier_filter autoware_predicted_path_postprocessor autoware_probabilistic_occupancy_grid_map autoware_ptv3 autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_bevformer autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_manual_lane_change_handler autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_trajectory_adapter autoware_trajectory_concatenator autoware_trajectory_modifier autoware_trajectory_optimizer autoware_trajectory_ranker autoware_trajectory_safety_filter autoware_trajectory_traffic_rule_filter autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_roundabout_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_boundary_departure_prevention_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_calibration_status_classifier autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_diagnostics autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_livox_tag_filter autoware_carla_interface autoware_dummy_perception_publisher autoware_fault_injection autoware_learning_based_vehicle_model autoware_simple_planning_simulator autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_bluetooth_monitor autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_monitor autoware_component_state_monitor autoware_adapi_visualizers autoware_automatic_pose_initializer autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_utils autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_duplicated_node_checker autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_traffic_light_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_datetime_rviz_plugin tier4_manual_lane_change_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

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github

API Docs
Browse Code

Package Summary

Version 0.50.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_universe.git
VCS Type git
VCS Version main
Last Updated 2026-02-25
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The autoware_behavior_velocity_traffic_light_module package

Maintainers

  • Taiki Yamada
  • Mamoru Sobue
  • Yukinari Hisaki

Authors

  • Satoshi Ota
planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/README.md

Traffic Light

Role

Judgement whether a vehicle can go into an intersection or not by traffic light status, and planning a velocity of the stop if necessary. This module is designed for rule-based velocity decision that is easy for developers to design its behavior. It generates proper velocity for traffic light scene.

brief

Limitations

This module allows developers to design STOP/GO in traffic light module using specific rules. Due to the property of rule-based planning, the algorithm is greatly depends on object detection and perception accuracy considering traffic light. Also, this module only handles STOP/Go at traffic light scene, so rushing or quick decision according to traffic condition is future work.

Activation Timing

This module is activated when there is traffic light in ego lane.

Algorithm

  1. Obtains a traffic light mapped to the route and a stop line correspond to the traffic light from a map information.

    • If a corresponding traffic light signal have never been found, it treats as a signal to pass.

    • If a corresponding traffic light signal is found but timed out, it treats as a signal to stop.

  2. Uses the highest reliability one of the traffic light recognition result and if the color of that was not green or corresponding arrow signal, generates a stop point.
    • If an elapsed time to receive stop signal is less than stop_time_hysteresis, it treats as a signal to pass. This feature is to prevent chattering.
  3. When vehicle current velocity is

    • higher than yellow_light_stop_velocity m/s ⇒ pass judge(using next slide formula)

    • lower than yellow_light_stop_velocity m/s ⇒ stop

  4. When it to be judged that vehicle can’t stop before stop line, autoware chooses one of the following behaviors

    • “can pass through” stop line during yellow lamp => pass

    • “can’t pass through” stop line during yellow lamp => emergency stop

Dilemma Zone

brief

  • yellow lamp line

    It’s called “yellow lamp line” which shows the distance traveled by the vehicle during yellow lamp.

  • dilemma zone

    It’s called “dilemma zone” which satisfies following conditions:

    • vehicle can’t pass through stop line during yellow lamp.(right side of the yellow lamp line)

    • vehicle can’t stop under deceleration and jerk limit.(left side of the pass judge curve)

      ⇒emergency stop(relax deceleration and jerk limitation in order to observe the traffic regulation)

  • optional zone

    It’s called “optional zone” which satisfies following conditions:

    • vehicle can pass through stop line during yellow lamp.(left side of the yellow lamp line)

    • vehicle can stop under deceleration and jerk limit.(right side of the pass judge curve)

      ⇒ stop(autoware selects the safety choice)

  • arrow-aware passing on yellow

    This feature enables smooth passing on a yellow signal in turn lanes to avoid sudden braking. Even in situations where the system would normally select STOP (Optional Zone) or EMERGENCY STOP (Dilemma Zone), it overrides the decision and selects PASS if all the following conditions are met:

    • The parameter enable_arrow_aware_yellow_passing is set to true.
    • The ego vehicle is in a turn lane (left or right).
    • The corresponding traffic light has a static arrow bulb defined in the map.
    • The signal state has transitioned from “Green” to “Yellow”. (Note: If the transition is from “Red + Arrow” to “Yellow”, the system decides to STOP for safety as per normal logic.)

Module Parameters

Parameter Type Description
stop_margin double [m] margin before stop point
tl_state_timeout double [s] time out for detected traffic light result.
stop_time_hysteresis double [s] time threshold to decide stop planning for chattering prevention
yellow_lamp_period double [s] time for yellow lamp
yellow_light_stop_velocity double [m/s] velocity threshold for always stopping at a yellow light.
enable_pass_judge bool [-] whether to use pass judge
enable_arrow_aware_yellow_passing bool [-] whether to support arrow-aware passing on yellow
v2i.use_remaining_time bool [-] whether to use V2I remaining time information for traffic light decision
v2i.last_time_allowed_to_pass double [s] relative time against the time of turn to red - safety margin for passing through
v2i.velocity_threshold double [m/s] velocity threshold to change decision logic for V2I prediction
v2i.required_time_to_departure double [s] required time to departure for low speed scenarios to prevent unsafe passing

Flowchart

```plantuml @startuml title modifyPathVelocity start

:calc stop point and insert index;

:find offset segment;

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package autoware_behavior_velocity_traffic_light_module

0.50.0 (2026-02-14)

  • Merge remote-tracking branch 'origin/main' into humble

  • feat!: remove ROS 2 Galactic codes (#11905)

  • feat(autoware_behavior_velocity_traffic_light_module): support arrow-aware passing judgment on yellow signal (#11704)

    • feat: arrow yellow pass
    • ref: change comment out
    • style(pre-commit): autofix
    • docs: add description for yellow pass
    • style(pre-commit): autofix
    • ref: cleaned up the code
    • ref: change param name
    • style(pre-commit): autofix
    • ref: add private variable
    • style(pre-commit): autofix
    • chore: change variable name
    • feat: test module
    • style(pre-commit): autofix
    • chore: add variable comment out
    • chore: rename nongreen variable
    • fix: transition logic doesn't handle the case
    • chore: add comment about yellow signal
    • chore: use the helper method
    • style(pre-commit): autofix
    • fix: lint error
    • ref: improve code health
    • style(pre-commit): autofix
    • fix: comment & test coverage
    • style(pre-commit): autofix
    • ref: change default-initialized properly
    • Update planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/test/test_traffic_light_module.cpp
    • fix: change reference to “lanelet2_utils”
    • ref: use any_of for readability

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com> Co-authored-by: Shumpei Wakabayashi <<42209144+shmpwk@users.noreply.github.com>>

  • Contributors: Ryohsuke Mitsudome, toki-1441

0.49.0 (2025-12-30)

  • Merge remote-tracking branch 'origin/main' into prepare-0.49.0-changelog
  • refactor: fix leftover dependent autoware_utils from updating vehicle_info_utils (#11734)
  • Contributors: Mete Fatih Cırıt, Ryohsuke Mitsudome

0.48.0 (2025-11-18)

  • Merge remote-tracking branch 'origin/main' into humble

  • feat(behavior_velocity_traffic_light_module): use Trajectory instead of PathWithLaneId (#11577) use Trajectory instead of PathWithLaneId

  • fix: tf2 uses hpp headers in rolling (and is backported) (#11620)

  • feat(behavior_velocity_rtc_interface, behavior_velocity_*_module): replace PathWithLaneId with Trajectory<> class (#11555)

  • fix(crosswalk, traffic_light): correct distance calculation by swapping src and dst (#11393)

    • fix: correct distance calculation by swapping src and dst

    * fix: correct distance calculation by swapping src and dst ---------

  • fix(traffic_light_module): update stop line when route changes (#11293)

    • fix traffic light

    * add comment ---------

  • fix(behavior_velocity_traffic_light_module): modify the way the parameter is used (#11263)

    • fix
    • update document

File truncated at 100 lines see the full file

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autoware_behavior_velocity_traffic_light_module package from autoware_universe repo

autoware_agnocast_wrapper autoware_auto_common autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_component_interface_tools autoware_component_interface_utils autoware_cuda_dependency_meta autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_path_distance_calculator autoware_polar_grid autoware_time_utils autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_command_gate autoware_control_performance_analysis autoware_control_validator autoware_external_cmd_selector autoware_joy_controller autoware_lane_departure_checker autoware_mpc_lateral_controller autoware_obstacle_collision_checker autoware_operation_mode_transition_manager autoware_pid_longitudinal_controller autoware_predicted_path_checker autoware_pure_pursuit autoware_shift_decider autoware_smart_mpc_trajectory_follower autoware_spheric_collision_detector autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_tensorrt_vad autoware_control_evaluator autoware_evaluation_adapter autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose2twist autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion autoware_bytetrack autoware_camera_streampetr autoware_cluster_merger autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_ground_segmentation_cuda autoware_image_object_locator autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_frnet autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_range_splitter autoware_object_sorter autoware_object_velocity_splitter autoware_occupancy_grid_map_outlier_filter autoware_predicted_path_postprocessor autoware_probabilistic_occupancy_grid_map autoware_ptv3 autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_bevformer autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_manual_lane_change_handler autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_trajectory_adapter autoware_trajectory_concatenator autoware_trajectory_modifier autoware_trajectory_optimizer autoware_trajectory_ranker autoware_trajectory_safety_filter autoware_trajectory_traffic_rule_filter autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_roundabout_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_boundary_departure_prevention_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_calibration_status_classifier autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_diagnostics autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_livox_tag_filter autoware_carla_interface autoware_dummy_perception_publisher autoware_fault_injection autoware_learning_based_vehicle_model autoware_simple_planning_simulator autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_bluetooth_monitor autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_monitor autoware_component_state_monitor autoware_adapi_visualizers autoware_automatic_pose_initializer autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_utils autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_duplicated_node_checker autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_traffic_light_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_datetime_rviz_plugin tier4_manual_lane_change_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

ROS Distro
github

API Docs
Browse Code

Package Summary

Version 0.50.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_universe.git
VCS Type git
VCS Version main
Last Updated 2026-02-25
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The autoware_behavior_velocity_traffic_light_module package

Maintainers

  • Taiki Yamada
  • Mamoru Sobue
  • Yukinari Hisaki

Authors

  • Satoshi Ota
planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/README.md

Traffic Light

Role

Judgement whether a vehicle can go into an intersection or not by traffic light status, and planning a velocity of the stop if necessary. This module is designed for rule-based velocity decision that is easy for developers to design its behavior. It generates proper velocity for traffic light scene.

brief

Limitations

This module allows developers to design STOP/GO in traffic light module using specific rules. Due to the property of rule-based planning, the algorithm is greatly depends on object detection and perception accuracy considering traffic light. Also, this module only handles STOP/Go at traffic light scene, so rushing or quick decision according to traffic condition is future work.

Activation Timing

This module is activated when there is traffic light in ego lane.

Algorithm

  1. Obtains a traffic light mapped to the route and a stop line correspond to the traffic light from a map information.

    • If a corresponding traffic light signal have never been found, it treats as a signal to pass.

    • If a corresponding traffic light signal is found but timed out, it treats as a signal to stop.

  2. Uses the highest reliability one of the traffic light recognition result and if the color of that was not green or corresponding arrow signal, generates a stop point.
    • If an elapsed time to receive stop signal is less than stop_time_hysteresis, it treats as a signal to pass. This feature is to prevent chattering.
  3. When vehicle current velocity is

    • higher than yellow_light_stop_velocity m/s ⇒ pass judge(using next slide formula)

    • lower than yellow_light_stop_velocity m/s ⇒ stop

  4. When it to be judged that vehicle can’t stop before stop line, autoware chooses one of the following behaviors

    • “can pass through” stop line during yellow lamp => pass

    • “can’t pass through” stop line during yellow lamp => emergency stop

Dilemma Zone

brief

  • yellow lamp line

    It’s called “yellow lamp line” which shows the distance traveled by the vehicle during yellow lamp.

  • dilemma zone

    It’s called “dilemma zone” which satisfies following conditions:

    • vehicle can’t pass through stop line during yellow lamp.(right side of the yellow lamp line)

    • vehicle can’t stop under deceleration and jerk limit.(left side of the pass judge curve)

      ⇒emergency stop(relax deceleration and jerk limitation in order to observe the traffic regulation)

  • optional zone

    It’s called “optional zone” which satisfies following conditions:

    • vehicle can pass through stop line during yellow lamp.(left side of the yellow lamp line)

    • vehicle can stop under deceleration and jerk limit.(right side of the pass judge curve)

      ⇒ stop(autoware selects the safety choice)

  • arrow-aware passing on yellow

    This feature enables smooth passing on a yellow signal in turn lanes to avoid sudden braking. Even in situations where the system would normally select STOP (Optional Zone) or EMERGENCY STOP (Dilemma Zone), it overrides the decision and selects PASS if all the following conditions are met:

    • The parameter enable_arrow_aware_yellow_passing is set to true.
    • The ego vehicle is in a turn lane (left or right).
    • The corresponding traffic light has a static arrow bulb defined in the map.
    • The signal state has transitioned from “Green” to “Yellow”. (Note: If the transition is from “Red + Arrow” to “Yellow”, the system decides to STOP for safety as per normal logic.)

Module Parameters

Parameter Type Description
stop_margin double [m] margin before stop point
tl_state_timeout double [s] time out for detected traffic light result.
stop_time_hysteresis double [s] time threshold to decide stop planning for chattering prevention
yellow_lamp_period double [s] time for yellow lamp
yellow_light_stop_velocity double [m/s] velocity threshold for always stopping at a yellow light.
enable_pass_judge bool [-] whether to use pass judge
enable_arrow_aware_yellow_passing bool [-] whether to support arrow-aware passing on yellow
v2i.use_remaining_time bool [-] whether to use V2I remaining time information for traffic light decision
v2i.last_time_allowed_to_pass double [s] relative time against the time of turn to red - safety margin for passing through
v2i.velocity_threshold double [m/s] velocity threshold to change decision logic for V2I prediction
v2i.required_time_to_departure double [s] required time to departure for low speed scenarios to prevent unsafe passing

Flowchart

```plantuml @startuml title modifyPathVelocity start

:calc stop point and insert index;

:find offset segment;

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package autoware_behavior_velocity_traffic_light_module

0.50.0 (2026-02-14)

  • Merge remote-tracking branch 'origin/main' into humble

  • feat!: remove ROS 2 Galactic codes (#11905)

  • feat(autoware_behavior_velocity_traffic_light_module): support arrow-aware passing judgment on yellow signal (#11704)

    • feat: arrow yellow pass
    • ref: change comment out
    • style(pre-commit): autofix
    • docs: add description for yellow pass
    • style(pre-commit): autofix
    • ref: cleaned up the code
    • ref: change param name
    • style(pre-commit): autofix
    • ref: add private variable
    • style(pre-commit): autofix
    • chore: change variable name
    • feat: test module
    • style(pre-commit): autofix
    • chore: add variable comment out
    • chore: rename nongreen variable
    • fix: transition logic doesn't handle the case
    • chore: add comment about yellow signal
    • chore: use the helper method
    • style(pre-commit): autofix
    • fix: lint error
    • ref: improve code health
    • style(pre-commit): autofix
    • fix: comment & test coverage
    • style(pre-commit): autofix
    • ref: change default-initialized properly
    • Update planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/test/test_traffic_light_module.cpp
    • fix: change reference to “lanelet2_utils”
    • ref: use any_of for readability

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com> Co-authored-by: Shumpei Wakabayashi <<42209144+shmpwk@users.noreply.github.com>>

  • Contributors: Ryohsuke Mitsudome, toki-1441

0.49.0 (2025-12-30)

  • Merge remote-tracking branch 'origin/main' into prepare-0.49.0-changelog
  • refactor: fix leftover dependent autoware_utils from updating vehicle_info_utils (#11734)
  • Contributors: Mete Fatih Cırıt, Ryohsuke Mitsudome

0.48.0 (2025-11-18)

  • Merge remote-tracking branch 'origin/main' into humble

  • feat(behavior_velocity_traffic_light_module): use Trajectory instead of PathWithLaneId (#11577) use Trajectory instead of PathWithLaneId

  • fix: tf2 uses hpp headers in rolling (and is backported) (#11620)

  • feat(behavior_velocity_rtc_interface, behavior_velocity_*_module): replace PathWithLaneId with Trajectory<> class (#11555)

  • fix(crosswalk, traffic_light): correct distance calculation by swapping src and dst (#11393)

    • fix: correct distance calculation by swapping src and dst

    * fix: correct distance calculation by swapping src and dst ---------

  • fix(traffic_light_module): update stop line when route changes (#11293)

    • fix traffic light

    * add comment ---------

  • fix(behavior_velocity_traffic_light_module): modify the way the parameter is used (#11263)

    • fix
    • update document

File truncated at 100 lines see the full file

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_behavior_velocity_traffic_light_module at Robotics Stack Exchange

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autoware_behavior_velocity_traffic_light_module package from autoware_universe repo

autoware_agnocast_wrapper autoware_auto_common autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_component_interface_tools autoware_component_interface_utils autoware_cuda_dependency_meta autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_path_distance_calculator autoware_polar_grid autoware_time_utils autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_command_gate autoware_control_performance_analysis autoware_control_validator autoware_external_cmd_selector autoware_joy_controller autoware_lane_departure_checker autoware_mpc_lateral_controller autoware_obstacle_collision_checker autoware_operation_mode_transition_manager autoware_pid_longitudinal_controller autoware_predicted_path_checker autoware_pure_pursuit autoware_shift_decider autoware_smart_mpc_trajectory_follower autoware_spheric_collision_detector autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_tensorrt_vad autoware_control_evaluator autoware_evaluation_adapter autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose2twist autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion autoware_bytetrack autoware_camera_streampetr autoware_cluster_merger autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_ground_segmentation_cuda autoware_image_object_locator autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_frnet autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_range_splitter autoware_object_sorter autoware_object_velocity_splitter autoware_occupancy_grid_map_outlier_filter autoware_predicted_path_postprocessor autoware_probabilistic_occupancy_grid_map autoware_ptv3 autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_bevformer autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_manual_lane_change_handler autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_trajectory_adapter autoware_trajectory_concatenator autoware_trajectory_modifier autoware_trajectory_optimizer autoware_trajectory_ranker autoware_trajectory_safety_filter autoware_trajectory_traffic_rule_filter autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_roundabout_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_boundary_departure_prevention_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_calibration_status_classifier autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_diagnostics autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_livox_tag_filter autoware_carla_interface autoware_dummy_perception_publisher autoware_fault_injection autoware_learning_based_vehicle_model autoware_simple_planning_simulator autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_bluetooth_monitor autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_monitor autoware_component_state_monitor autoware_adapi_visualizers autoware_automatic_pose_initializer autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_utils autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_duplicated_node_checker autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_traffic_light_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_datetime_rviz_plugin tier4_manual_lane_change_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

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Package Summary

Version 0.50.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_universe.git
VCS Type git
VCS Version main
Last Updated 2026-02-25
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The autoware_behavior_velocity_traffic_light_module package

Maintainers

  • Taiki Yamada
  • Mamoru Sobue
  • Yukinari Hisaki

Authors

  • Satoshi Ota
planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/README.md

Traffic Light

Role

Judgement whether a vehicle can go into an intersection or not by traffic light status, and planning a velocity of the stop if necessary. This module is designed for rule-based velocity decision that is easy for developers to design its behavior. It generates proper velocity for traffic light scene.

brief

Limitations

This module allows developers to design STOP/GO in traffic light module using specific rules. Due to the property of rule-based planning, the algorithm is greatly depends on object detection and perception accuracy considering traffic light. Also, this module only handles STOP/Go at traffic light scene, so rushing or quick decision according to traffic condition is future work.

Activation Timing

This module is activated when there is traffic light in ego lane.

Algorithm

  1. Obtains a traffic light mapped to the route and a stop line correspond to the traffic light from a map information.

    • If a corresponding traffic light signal have never been found, it treats as a signal to pass.

    • If a corresponding traffic light signal is found but timed out, it treats as a signal to stop.

  2. Uses the highest reliability one of the traffic light recognition result and if the color of that was not green or corresponding arrow signal, generates a stop point.
    • If an elapsed time to receive stop signal is less than stop_time_hysteresis, it treats as a signal to pass. This feature is to prevent chattering.
  3. When vehicle current velocity is

    • higher than yellow_light_stop_velocity m/s ⇒ pass judge(using next slide formula)

    • lower than yellow_light_stop_velocity m/s ⇒ stop

  4. When it to be judged that vehicle can’t stop before stop line, autoware chooses one of the following behaviors

    • “can pass through” stop line during yellow lamp => pass

    • “can’t pass through” stop line during yellow lamp => emergency stop

Dilemma Zone

brief

  • yellow lamp line

    It’s called “yellow lamp line” which shows the distance traveled by the vehicle during yellow lamp.

  • dilemma zone

    It’s called “dilemma zone” which satisfies following conditions:

    • vehicle can’t pass through stop line during yellow lamp.(right side of the yellow lamp line)

    • vehicle can’t stop under deceleration and jerk limit.(left side of the pass judge curve)

      ⇒emergency stop(relax deceleration and jerk limitation in order to observe the traffic regulation)

  • optional zone

    It’s called “optional zone” which satisfies following conditions:

    • vehicle can pass through stop line during yellow lamp.(left side of the yellow lamp line)

    • vehicle can stop under deceleration and jerk limit.(right side of the pass judge curve)

      ⇒ stop(autoware selects the safety choice)

  • arrow-aware passing on yellow

    This feature enables smooth passing on a yellow signal in turn lanes to avoid sudden braking. Even in situations where the system would normally select STOP (Optional Zone) or EMERGENCY STOP (Dilemma Zone), it overrides the decision and selects PASS if all the following conditions are met:

    • The parameter enable_arrow_aware_yellow_passing is set to true.
    • The ego vehicle is in a turn lane (left or right).
    • The corresponding traffic light has a static arrow bulb defined in the map.
    • The signal state has transitioned from “Green” to “Yellow”. (Note: If the transition is from “Red + Arrow” to “Yellow”, the system decides to STOP for safety as per normal logic.)

Module Parameters

Parameter Type Description
stop_margin double [m] margin before stop point
tl_state_timeout double [s] time out for detected traffic light result.
stop_time_hysteresis double [s] time threshold to decide stop planning for chattering prevention
yellow_lamp_period double [s] time for yellow lamp
yellow_light_stop_velocity double [m/s] velocity threshold for always stopping at a yellow light.
enable_pass_judge bool [-] whether to use pass judge
enable_arrow_aware_yellow_passing bool [-] whether to support arrow-aware passing on yellow
v2i.use_remaining_time bool [-] whether to use V2I remaining time information for traffic light decision
v2i.last_time_allowed_to_pass double [s] relative time against the time of turn to red - safety margin for passing through
v2i.velocity_threshold double [m/s] velocity threshold to change decision logic for V2I prediction
v2i.required_time_to_departure double [s] required time to departure for low speed scenarios to prevent unsafe passing

Flowchart

```plantuml @startuml title modifyPathVelocity start

:calc stop point and insert index;

:find offset segment;

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package autoware_behavior_velocity_traffic_light_module

0.50.0 (2026-02-14)

  • Merge remote-tracking branch 'origin/main' into humble

  • feat!: remove ROS 2 Galactic codes (#11905)

  • feat(autoware_behavior_velocity_traffic_light_module): support arrow-aware passing judgment on yellow signal (#11704)

    • feat: arrow yellow pass
    • ref: change comment out
    • style(pre-commit): autofix
    • docs: add description for yellow pass
    • style(pre-commit): autofix
    • ref: cleaned up the code
    • ref: change param name
    • style(pre-commit): autofix
    • ref: add private variable
    • style(pre-commit): autofix
    • chore: change variable name
    • feat: test module
    • style(pre-commit): autofix
    • chore: add variable comment out
    • chore: rename nongreen variable
    • fix: transition logic doesn't handle the case
    • chore: add comment about yellow signal
    • chore: use the helper method
    • style(pre-commit): autofix
    • fix: lint error
    • ref: improve code health
    • style(pre-commit): autofix
    • fix: comment & test coverage
    • style(pre-commit): autofix
    • ref: change default-initialized properly
    • Update planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/test/test_traffic_light_module.cpp
    • fix: change reference to “lanelet2_utils”
    • ref: use any_of for readability

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com> Co-authored-by: Shumpei Wakabayashi <<42209144+shmpwk@users.noreply.github.com>>

  • Contributors: Ryohsuke Mitsudome, toki-1441

0.49.0 (2025-12-30)

  • Merge remote-tracking branch 'origin/main' into prepare-0.49.0-changelog
  • refactor: fix leftover dependent autoware_utils from updating vehicle_info_utils (#11734)
  • Contributors: Mete Fatih Cırıt, Ryohsuke Mitsudome

0.48.0 (2025-11-18)

  • Merge remote-tracking branch 'origin/main' into humble

  • feat(behavior_velocity_traffic_light_module): use Trajectory instead of PathWithLaneId (#11577) use Trajectory instead of PathWithLaneId

  • fix: tf2 uses hpp headers in rolling (and is backported) (#11620)

  • feat(behavior_velocity_rtc_interface, behavior_velocity_*_module): replace PathWithLaneId with Trajectory<> class (#11555)

  • fix(crosswalk, traffic_light): correct distance calculation by swapping src and dst (#11393)

    • fix: correct distance calculation by swapping src and dst

    * fix: correct distance calculation by swapping src and dst ---------

  • fix(traffic_light_module): update stop line when route changes (#11293)

    • fix traffic light

    * add comment ---------

  • fix(behavior_velocity_traffic_light_module): modify the way the parameter is used (#11263)

    • fix
    • update document

File truncated at 100 lines see the full file

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

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Recent questions tagged autoware_behavior_velocity_traffic_light_module at Robotics Stack Exchange

No version for distro rolling showing github. Known supported distros are highlighted in the buttons above.
Package symbol

autoware_behavior_velocity_traffic_light_module package from autoware_universe repo

autoware_agnocast_wrapper autoware_auto_common autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_component_interface_tools autoware_component_interface_utils autoware_cuda_dependency_meta autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_path_distance_calculator autoware_polar_grid autoware_time_utils autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_command_gate autoware_control_performance_analysis autoware_control_validator autoware_external_cmd_selector autoware_joy_controller autoware_lane_departure_checker autoware_mpc_lateral_controller autoware_obstacle_collision_checker autoware_operation_mode_transition_manager autoware_pid_longitudinal_controller autoware_predicted_path_checker autoware_pure_pursuit autoware_shift_decider autoware_smart_mpc_trajectory_follower autoware_spheric_collision_detector autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_tensorrt_vad autoware_control_evaluator autoware_evaluation_adapter autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose2twist autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion autoware_bytetrack autoware_camera_streampetr autoware_cluster_merger autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_ground_segmentation_cuda autoware_image_object_locator autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_frnet autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_range_splitter autoware_object_sorter autoware_object_velocity_splitter autoware_occupancy_grid_map_outlier_filter autoware_predicted_path_postprocessor autoware_probabilistic_occupancy_grid_map autoware_ptv3 autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_bevformer autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_manual_lane_change_handler autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_trajectory_adapter autoware_trajectory_concatenator autoware_trajectory_modifier autoware_trajectory_optimizer autoware_trajectory_ranker autoware_trajectory_safety_filter autoware_trajectory_traffic_rule_filter autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_roundabout_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_boundary_departure_prevention_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_calibration_status_classifier autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_diagnostics autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_livox_tag_filter autoware_carla_interface autoware_dummy_perception_publisher autoware_fault_injection autoware_learning_based_vehicle_model autoware_simple_planning_simulator autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_bluetooth_monitor autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_monitor autoware_component_state_monitor autoware_adapi_visualizers autoware_automatic_pose_initializer autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_utils autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_duplicated_node_checker autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_traffic_light_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_datetime_rviz_plugin tier4_manual_lane_change_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

ROS Distro
github

API Docs
Browse Code

Package Summary

Version 0.50.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_universe.git
VCS Type git
VCS Version main
Last Updated 2026-02-25
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The autoware_behavior_velocity_traffic_light_module package

Maintainers

  • Taiki Yamada
  • Mamoru Sobue
  • Yukinari Hisaki

Authors

  • Satoshi Ota
planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/README.md

Traffic Light

Role

Judgement whether a vehicle can go into an intersection or not by traffic light status, and planning a velocity of the stop if necessary. This module is designed for rule-based velocity decision that is easy for developers to design its behavior. It generates proper velocity for traffic light scene.

brief

Limitations

This module allows developers to design STOP/GO in traffic light module using specific rules. Due to the property of rule-based planning, the algorithm is greatly depends on object detection and perception accuracy considering traffic light. Also, this module only handles STOP/Go at traffic light scene, so rushing or quick decision according to traffic condition is future work.

Activation Timing

This module is activated when there is traffic light in ego lane.

Algorithm

  1. Obtains a traffic light mapped to the route and a stop line correspond to the traffic light from a map information.

    • If a corresponding traffic light signal have never been found, it treats as a signal to pass.

    • If a corresponding traffic light signal is found but timed out, it treats as a signal to stop.

  2. Uses the highest reliability one of the traffic light recognition result and if the color of that was not green or corresponding arrow signal, generates a stop point.
    • If an elapsed time to receive stop signal is less than stop_time_hysteresis, it treats as a signal to pass. This feature is to prevent chattering.
  3. When vehicle current velocity is

    • higher than yellow_light_stop_velocity m/s ⇒ pass judge(using next slide formula)

    • lower than yellow_light_stop_velocity m/s ⇒ stop

  4. When it to be judged that vehicle can’t stop before stop line, autoware chooses one of the following behaviors

    • “can pass through” stop line during yellow lamp => pass

    • “can’t pass through” stop line during yellow lamp => emergency stop

Dilemma Zone

brief

  • yellow lamp line

    It’s called “yellow lamp line” which shows the distance traveled by the vehicle during yellow lamp.

  • dilemma zone

    It’s called “dilemma zone” which satisfies following conditions:

    • vehicle can’t pass through stop line during yellow lamp.(right side of the yellow lamp line)

    • vehicle can’t stop under deceleration and jerk limit.(left side of the pass judge curve)

      ⇒emergency stop(relax deceleration and jerk limitation in order to observe the traffic regulation)

  • optional zone

    It’s called “optional zone” which satisfies following conditions:

    • vehicle can pass through stop line during yellow lamp.(left side of the yellow lamp line)

    • vehicle can stop under deceleration and jerk limit.(right side of the pass judge curve)

      ⇒ stop(autoware selects the safety choice)

  • arrow-aware passing on yellow

    This feature enables smooth passing on a yellow signal in turn lanes to avoid sudden braking. Even in situations where the system would normally select STOP (Optional Zone) or EMERGENCY STOP (Dilemma Zone), it overrides the decision and selects PASS if all the following conditions are met:

    • The parameter enable_arrow_aware_yellow_passing is set to true.
    • The ego vehicle is in a turn lane (left or right).
    • The corresponding traffic light has a static arrow bulb defined in the map.
    • The signal state has transitioned from “Green” to “Yellow”. (Note: If the transition is from “Red + Arrow” to “Yellow”, the system decides to STOP for safety as per normal logic.)

Module Parameters

Parameter Type Description
stop_margin double [m] margin before stop point
tl_state_timeout double [s] time out for detected traffic light result.
stop_time_hysteresis double [s] time threshold to decide stop planning for chattering prevention
yellow_lamp_period double [s] time for yellow lamp
yellow_light_stop_velocity double [m/s] velocity threshold for always stopping at a yellow light.
enable_pass_judge bool [-] whether to use pass judge
enable_arrow_aware_yellow_passing bool [-] whether to support arrow-aware passing on yellow
v2i.use_remaining_time bool [-] whether to use V2I remaining time information for traffic light decision
v2i.last_time_allowed_to_pass double [s] relative time against the time of turn to red - safety margin for passing through
v2i.velocity_threshold double [m/s] velocity threshold to change decision logic for V2I prediction
v2i.required_time_to_departure double [s] required time to departure for low speed scenarios to prevent unsafe passing

Flowchart

```plantuml @startuml title modifyPathVelocity start

:calc stop point and insert index;

:find offset segment;

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package autoware_behavior_velocity_traffic_light_module

0.50.0 (2026-02-14)

  • Merge remote-tracking branch 'origin/main' into humble

  • feat!: remove ROS 2 Galactic codes (#11905)

  • feat(autoware_behavior_velocity_traffic_light_module): support arrow-aware passing judgment on yellow signal (#11704)

    • feat: arrow yellow pass
    • ref: change comment out
    • style(pre-commit): autofix
    • docs: add description for yellow pass
    • style(pre-commit): autofix
    • ref: cleaned up the code
    • ref: change param name
    • style(pre-commit): autofix
    • ref: add private variable
    • style(pre-commit): autofix
    • chore: change variable name
    • feat: test module
    • style(pre-commit): autofix
    • chore: add variable comment out
    • chore: rename nongreen variable
    • fix: transition logic doesn't handle the case
    • chore: add comment about yellow signal
    • chore: use the helper method
    • style(pre-commit): autofix
    • fix: lint error
    • ref: improve code health
    • style(pre-commit): autofix
    • fix: comment & test coverage
    • style(pre-commit): autofix
    • ref: change default-initialized properly
    • Update planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/test/test_traffic_light_module.cpp
    • fix: change reference to “lanelet2_utils”
    • ref: use any_of for readability

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com> Co-authored-by: Shumpei Wakabayashi <<42209144+shmpwk@users.noreply.github.com>>

  • Contributors: Ryohsuke Mitsudome, toki-1441

0.49.0 (2025-12-30)

  • Merge remote-tracking branch 'origin/main' into prepare-0.49.0-changelog
  • refactor: fix leftover dependent autoware_utils from updating vehicle_info_utils (#11734)
  • Contributors: Mete Fatih Cırıt, Ryohsuke Mitsudome

0.48.0 (2025-11-18)

  • Merge remote-tracking branch 'origin/main' into humble

  • feat(behavior_velocity_traffic_light_module): use Trajectory instead of PathWithLaneId (#11577) use Trajectory instead of PathWithLaneId

  • fix: tf2 uses hpp headers in rolling (and is backported) (#11620)

  • feat(behavior_velocity_rtc_interface, behavior_velocity_*_module): replace PathWithLaneId with Trajectory<> class (#11555)

  • fix(crosswalk, traffic_light): correct distance calculation by swapping src and dst (#11393)

    • fix: correct distance calculation by swapping src and dst

    * fix: correct distance calculation by swapping src and dst ---------

  • fix(traffic_light_module): update stop line when route changes (#11293)

    • fix traffic light

    * add comment ---------

  • fix(behavior_velocity_traffic_light_module): modify the way the parameter is used (#11263)

    • fix
    • update document

File truncated at 100 lines see the full file

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autoware_behavior_velocity_traffic_light_module package from autoware_universe repo

autoware_agnocast_wrapper autoware_auto_common autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_component_interface_tools autoware_component_interface_utils autoware_cuda_dependency_meta autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_path_distance_calculator autoware_polar_grid autoware_time_utils autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_command_gate autoware_control_performance_analysis autoware_control_validator autoware_external_cmd_selector autoware_joy_controller autoware_lane_departure_checker autoware_mpc_lateral_controller autoware_obstacle_collision_checker autoware_operation_mode_transition_manager autoware_pid_longitudinal_controller autoware_predicted_path_checker autoware_pure_pursuit autoware_shift_decider autoware_smart_mpc_trajectory_follower autoware_spheric_collision_detector autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_tensorrt_vad autoware_control_evaluator autoware_evaluation_adapter autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose2twist autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion autoware_bytetrack autoware_camera_streampetr autoware_cluster_merger autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_ground_segmentation_cuda autoware_image_object_locator autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_frnet autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_range_splitter autoware_object_sorter autoware_object_velocity_splitter autoware_occupancy_grid_map_outlier_filter autoware_predicted_path_postprocessor autoware_probabilistic_occupancy_grid_map autoware_ptv3 autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_bevformer autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_manual_lane_change_handler autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_trajectory_adapter autoware_trajectory_concatenator autoware_trajectory_modifier autoware_trajectory_optimizer autoware_trajectory_ranker autoware_trajectory_safety_filter autoware_trajectory_traffic_rule_filter autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_roundabout_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_boundary_departure_prevention_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_calibration_status_classifier autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_diagnostics autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_livox_tag_filter autoware_carla_interface autoware_dummy_perception_publisher autoware_fault_injection autoware_learning_based_vehicle_model autoware_simple_planning_simulator autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_bluetooth_monitor autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_monitor autoware_component_state_monitor autoware_adapi_visualizers autoware_automatic_pose_initializer autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_utils autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_duplicated_node_checker autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_traffic_light_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_datetime_rviz_plugin tier4_manual_lane_change_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

ROS Distro
github

API Docs
Browse Code

Package Summary

Version 0.50.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_universe.git
VCS Type git
VCS Version main
Last Updated 2026-02-25
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The autoware_behavior_velocity_traffic_light_module package

Maintainers

  • Taiki Yamada
  • Mamoru Sobue
  • Yukinari Hisaki

Authors

  • Satoshi Ota
planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/README.md

Traffic Light

Role

Judgement whether a vehicle can go into an intersection or not by traffic light status, and planning a velocity of the stop if necessary. This module is designed for rule-based velocity decision that is easy for developers to design its behavior. It generates proper velocity for traffic light scene.

brief

Limitations

This module allows developers to design STOP/GO in traffic light module using specific rules. Due to the property of rule-based planning, the algorithm is greatly depends on object detection and perception accuracy considering traffic light. Also, this module only handles STOP/Go at traffic light scene, so rushing or quick decision according to traffic condition is future work.

Activation Timing

This module is activated when there is traffic light in ego lane.

Algorithm

  1. Obtains a traffic light mapped to the route and a stop line correspond to the traffic light from a map information.

    • If a corresponding traffic light signal have never been found, it treats as a signal to pass.

    • If a corresponding traffic light signal is found but timed out, it treats as a signal to stop.

  2. Uses the highest reliability one of the traffic light recognition result and if the color of that was not green or corresponding arrow signal, generates a stop point.
    • If an elapsed time to receive stop signal is less than stop_time_hysteresis, it treats as a signal to pass. This feature is to prevent chattering.
  3. When vehicle current velocity is

    • higher than yellow_light_stop_velocity m/s ⇒ pass judge(using next slide formula)

    • lower than yellow_light_stop_velocity m/s ⇒ stop

  4. When it to be judged that vehicle can’t stop before stop line, autoware chooses one of the following behaviors

    • “can pass through” stop line during yellow lamp => pass

    • “can’t pass through” stop line during yellow lamp => emergency stop

Dilemma Zone

brief

  • yellow lamp line

    It’s called “yellow lamp line” which shows the distance traveled by the vehicle during yellow lamp.

  • dilemma zone

    It’s called “dilemma zone” which satisfies following conditions:

    • vehicle can’t pass through stop line during yellow lamp.(right side of the yellow lamp line)

    • vehicle can’t stop under deceleration and jerk limit.(left side of the pass judge curve)

      ⇒emergency stop(relax deceleration and jerk limitation in order to observe the traffic regulation)

  • optional zone

    It’s called “optional zone” which satisfies following conditions:

    • vehicle can pass through stop line during yellow lamp.(left side of the yellow lamp line)

    • vehicle can stop under deceleration and jerk limit.(right side of the pass judge curve)

      ⇒ stop(autoware selects the safety choice)

  • arrow-aware passing on yellow

    This feature enables smooth passing on a yellow signal in turn lanes to avoid sudden braking. Even in situations where the system would normally select STOP (Optional Zone) or EMERGENCY STOP (Dilemma Zone), it overrides the decision and selects PASS if all the following conditions are met:

    • The parameter enable_arrow_aware_yellow_passing is set to true.
    • The ego vehicle is in a turn lane (left or right).
    • The corresponding traffic light has a static arrow bulb defined in the map.
    • The signal state has transitioned from “Green” to “Yellow”. (Note: If the transition is from “Red + Arrow” to “Yellow”, the system decides to STOP for safety as per normal logic.)

Module Parameters

Parameter Type Description
stop_margin double [m] margin before stop point
tl_state_timeout double [s] time out for detected traffic light result.
stop_time_hysteresis double [s] time threshold to decide stop planning for chattering prevention
yellow_lamp_period double [s] time for yellow lamp
yellow_light_stop_velocity double [m/s] velocity threshold for always stopping at a yellow light.
enable_pass_judge bool [-] whether to use pass judge
enable_arrow_aware_yellow_passing bool [-] whether to support arrow-aware passing on yellow
v2i.use_remaining_time bool [-] whether to use V2I remaining time information for traffic light decision
v2i.last_time_allowed_to_pass double [s] relative time against the time of turn to red - safety margin for passing through
v2i.velocity_threshold double [m/s] velocity threshold to change decision logic for V2I prediction
v2i.required_time_to_departure double [s] required time to departure for low speed scenarios to prevent unsafe passing

Flowchart

```plantuml @startuml title modifyPathVelocity start

:calc stop point and insert index;

:find offset segment;

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package autoware_behavior_velocity_traffic_light_module

0.50.0 (2026-02-14)

  • Merge remote-tracking branch 'origin/main' into humble

  • feat!: remove ROS 2 Galactic codes (#11905)

  • feat(autoware_behavior_velocity_traffic_light_module): support arrow-aware passing judgment on yellow signal (#11704)

    • feat: arrow yellow pass
    • ref: change comment out
    • style(pre-commit): autofix
    • docs: add description for yellow pass
    • style(pre-commit): autofix
    • ref: cleaned up the code
    • ref: change param name
    • style(pre-commit): autofix
    • ref: add private variable
    • style(pre-commit): autofix
    • chore: change variable name
    • feat: test module
    • style(pre-commit): autofix
    • chore: add variable comment out
    • chore: rename nongreen variable
    • fix: transition logic doesn't handle the case
    • chore: add comment about yellow signal
    • chore: use the helper method
    • style(pre-commit): autofix
    • fix: lint error
    • ref: improve code health
    • style(pre-commit): autofix
    • fix: comment & test coverage
    • style(pre-commit): autofix
    • ref: change default-initialized properly
    • Update planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/test/test_traffic_light_module.cpp
    • fix: change reference to “lanelet2_utils”
    • ref: use any_of for readability

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com> Co-authored-by: Shumpei Wakabayashi <<42209144+shmpwk@users.noreply.github.com>>

  • Contributors: Ryohsuke Mitsudome, toki-1441

0.49.0 (2025-12-30)

  • Merge remote-tracking branch 'origin/main' into prepare-0.49.0-changelog
  • refactor: fix leftover dependent autoware_utils from updating vehicle_info_utils (#11734)
  • Contributors: Mete Fatih Cırıt, Ryohsuke Mitsudome

0.48.0 (2025-11-18)

  • Merge remote-tracking branch 'origin/main' into humble

  • feat(behavior_velocity_traffic_light_module): use Trajectory instead of PathWithLaneId (#11577) use Trajectory instead of PathWithLaneId

  • fix: tf2 uses hpp headers in rolling (and is backported) (#11620)

  • feat(behavior_velocity_rtc_interface, behavior_velocity_*_module): replace PathWithLaneId with Trajectory<> class (#11555)

  • fix(crosswalk, traffic_light): correct distance calculation by swapping src and dst (#11393)

    • fix: correct distance calculation by swapping src and dst

    * fix: correct distance calculation by swapping src and dst ---------

  • fix(traffic_light_module): update stop line when route changes (#11293)

    • fix traffic light

    * add comment ---------

  • fix(behavior_velocity_traffic_light_module): modify the way the parameter is used (#11263)

    • fix
    • update document

File truncated at 100 lines see the full file

Launch files

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Services

No service files found

Plugins

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Recent questions tagged autoware_behavior_velocity_traffic_light_module at Robotics Stack Exchange

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autoware_behavior_velocity_traffic_light_module package from autoware_universe repo

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autoware_smart_mpc_trajectory_follower autoware_spheric_collision_detector autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_tensorrt_vad autoware_control_evaluator autoware_evaluation_adapter autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose2twist autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion autoware_bytetrack autoware_camera_streampetr autoware_cluster_merger autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_ground_segmentation_cuda autoware_image_object_locator autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_frnet autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_range_splitter autoware_object_sorter autoware_object_velocity_splitter autoware_occupancy_grid_map_outlier_filter autoware_predicted_path_postprocessor autoware_probabilistic_occupancy_grid_map autoware_ptv3 autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_bevformer autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_manual_lane_change_handler autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_trajectory_adapter autoware_trajectory_concatenator autoware_trajectory_modifier autoware_trajectory_optimizer autoware_trajectory_ranker autoware_trajectory_safety_filter autoware_trajectory_traffic_rule_filter autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_roundabout_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_boundary_departure_prevention_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_calibration_status_classifier autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_diagnostics autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_livox_tag_filter autoware_carla_interface autoware_dummy_perception_publisher autoware_fault_injection autoware_learning_based_vehicle_model autoware_simple_planning_simulator autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_bluetooth_monitor autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_monitor autoware_component_state_monitor autoware_adapi_visualizers autoware_automatic_pose_initializer autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_utils autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_duplicated_node_checker autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_traffic_light_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_datetime_rviz_plugin tier4_manual_lane_change_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

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Package Summary

Version 0.50.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_universe.git
VCS Type git
VCS Version main
Last Updated 2026-02-25
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The autoware_behavior_velocity_traffic_light_module package

Maintainers

  • Taiki Yamada
  • Mamoru Sobue
  • Yukinari Hisaki

Authors

  • Satoshi Ota
planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/README.md

Traffic Light

Role

Judgement whether a vehicle can go into an intersection or not by traffic light status, and planning a velocity of the stop if necessary. This module is designed for rule-based velocity decision that is easy for developers to design its behavior. It generates proper velocity for traffic light scene.

brief

Limitations

This module allows developers to design STOP/GO in traffic light module using specific rules. Due to the property of rule-based planning, the algorithm is greatly depends on object detection and perception accuracy considering traffic light. Also, this module only handles STOP/Go at traffic light scene, so rushing or quick decision according to traffic condition is future work.

Activation Timing

This module is activated when there is traffic light in ego lane.

Algorithm

  1. Obtains a traffic light mapped to the route and a stop line correspond to the traffic light from a map information.

    • If a corresponding traffic light signal have never been found, it treats as a signal to pass.

    • If a corresponding traffic light signal is found but timed out, it treats as a signal to stop.

  2. Uses the highest reliability one of the traffic light recognition result and if the color of that was not green or corresponding arrow signal, generates a stop point.
    • If an elapsed time to receive stop signal is less than stop_time_hysteresis, it treats as a signal to pass. This feature is to prevent chattering.
  3. When vehicle current velocity is

    • higher than yellow_light_stop_velocity m/s ⇒ pass judge(using next slide formula)

    • lower than yellow_light_stop_velocity m/s ⇒ stop

  4. When it to be judged that vehicle can’t stop before stop line, autoware chooses one of the following behaviors

    • “can pass through” stop line during yellow lamp => pass

    • “can’t pass through” stop line during yellow lamp => emergency stop

Dilemma Zone

brief

  • yellow lamp line

    It’s called “yellow lamp line” which shows the distance traveled by the vehicle during yellow lamp.

  • dilemma zone

    It’s called “dilemma zone” which satisfies following conditions:

    • vehicle can’t pass through stop line during yellow lamp.(right side of the yellow lamp line)

    • vehicle can’t stop under deceleration and jerk limit.(left side of the pass judge curve)

      ⇒emergency stop(relax deceleration and jerk limitation in order to observe the traffic regulation)

  • optional zone

    It’s called “optional zone” which satisfies following conditions:

    • vehicle can pass through stop line during yellow lamp.(left side of the yellow lamp line)

    • vehicle can stop under deceleration and jerk limit.(right side of the pass judge curve)

      ⇒ stop(autoware selects the safety choice)

  • arrow-aware passing on yellow

    This feature enables smooth passing on a yellow signal in turn lanes to avoid sudden braking. Even in situations where the system would normally select STOP (Optional Zone) or EMERGENCY STOP (Dilemma Zone), it overrides the decision and selects PASS if all the following conditions are met:

    • The parameter enable_arrow_aware_yellow_passing is set to true.
    • The ego vehicle is in a turn lane (left or right).
    • The corresponding traffic light has a static arrow bulb defined in the map.
    • The signal state has transitioned from “Green” to “Yellow”. (Note: If the transition is from “Red + Arrow” to “Yellow”, the system decides to STOP for safety as per normal logic.)

Module Parameters

Parameter Type Description
stop_margin double [m] margin before stop point
tl_state_timeout double [s] time out for detected traffic light result.
stop_time_hysteresis double [s] time threshold to decide stop planning for chattering prevention
yellow_lamp_period double [s] time for yellow lamp
yellow_light_stop_velocity double [m/s] velocity threshold for always stopping at a yellow light.
enable_pass_judge bool [-] whether to use pass judge
enable_arrow_aware_yellow_passing bool [-] whether to support arrow-aware passing on yellow
v2i.use_remaining_time bool [-] whether to use V2I remaining time information for traffic light decision
v2i.last_time_allowed_to_pass double [s] relative time against the time of turn to red - safety margin for passing through
v2i.velocity_threshold double [m/s] velocity threshold to change decision logic for V2I prediction
v2i.required_time_to_departure double [s] required time to departure for low speed scenarios to prevent unsafe passing

Flowchart

```plantuml @startuml title modifyPathVelocity start

:calc stop point and insert index;

:find offset segment;

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package autoware_behavior_velocity_traffic_light_module

0.50.0 (2026-02-14)

  • Merge remote-tracking branch 'origin/main' into humble

  • feat!: remove ROS 2 Galactic codes (#11905)

  • feat(autoware_behavior_velocity_traffic_light_module): support arrow-aware passing judgment on yellow signal (#11704)

    • feat: arrow yellow pass
    • ref: change comment out
    • style(pre-commit): autofix
    • docs: add description for yellow pass
    • style(pre-commit): autofix
    • ref: cleaned up the code
    • ref: change param name
    • style(pre-commit): autofix
    • ref: add private variable
    • style(pre-commit): autofix
    • chore: change variable name
    • feat: test module
    • style(pre-commit): autofix
    • chore: add variable comment out
    • chore: rename nongreen variable
    • fix: transition logic doesn't handle the case
    • chore: add comment about yellow signal
    • chore: use the helper method
    • style(pre-commit): autofix
    • fix: lint error
    • ref: improve code health
    • style(pre-commit): autofix
    • fix: comment & test coverage
    • style(pre-commit): autofix
    • ref: change default-initialized properly
    • Update planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/test/test_traffic_light_module.cpp
    • fix: change reference to “lanelet2_utils”
    • ref: use any_of for readability

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com> Co-authored-by: Shumpei Wakabayashi <<42209144+shmpwk@users.noreply.github.com>>

  • Contributors: Ryohsuke Mitsudome, toki-1441

0.49.0 (2025-12-30)

  • Merge remote-tracking branch 'origin/main' into prepare-0.49.0-changelog
  • refactor: fix leftover dependent autoware_utils from updating vehicle_info_utils (#11734)
  • Contributors: Mete Fatih Cırıt, Ryohsuke Mitsudome

0.48.0 (2025-11-18)

  • Merge remote-tracking branch 'origin/main' into humble

  • feat(behavior_velocity_traffic_light_module): use Trajectory instead of PathWithLaneId (#11577) use Trajectory instead of PathWithLaneId

  • fix: tf2 uses hpp headers in rolling (and is backported) (#11620)

  • feat(behavior_velocity_rtc_interface, behavior_velocity_*_module): replace PathWithLaneId with Trajectory<> class (#11555)

  • fix(crosswalk, traffic_light): correct distance calculation by swapping src and dst (#11393)

    • fix: correct distance calculation by swapping src and dst

    * fix: correct distance calculation by swapping src and dst ---------

  • fix(traffic_light_module): update stop line when route changes (#11293)

    • fix traffic light

    * add comment ---------

  • fix(behavior_velocity_traffic_light_module): modify the way the parameter is used (#11263)

    • fix
    • update document

File truncated at 100 lines see the full file

Launch files

No launch files found

Messages

No message files found.

Services

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Plugins

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Recent questions tagged autoware_behavior_velocity_traffic_light_module at Robotics Stack Exchange

No version for distro iron showing github. Known supported distros are highlighted in the buttons above.
Package symbol

autoware_behavior_velocity_traffic_light_module package from autoware_universe repo

autoware_agnocast_wrapper autoware_auto_common autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_component_interface_tools autoware_component_interface_utils autoware_cuda_dependency_meta autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_path_distance_calculator autoware_polar_grid autoware_time_utils autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_command_gate autoware_control_performance_analysis autoware_control_validator autoware_external_cmd_selector autoware_joy_controller autoware_lane_departure_checker autoware_mpc_lateral_controller autoware_obstacle_collision_checker autoware_operation_mode_transition_manager autoware_pid_longitudinal_controller autoware_predicted_path_checker autoware_pure_pursuit autoware_shift_decider autoware_smart_mpc_trajectory_follower autoware_spheric_collision_detector autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_tensorrt_vad autoware_control_evaluator autoware_evaluation_adapter autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose2twist autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion autoware_bytetrack autoware_camera_streampetr autoware_cluster_merger autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_ground_segmentation_cuda autoware_image_object_locator autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_frnet autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_range_splitter autoware_object_sorter autoware_object_velocity_splitter autoware_occupancy_grid_map_outlier_filter autoware_predicted_path_postprocessor autoware_probabilistic_occupancy_grid_map autoware_ptv3 autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_bevformer autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_manual_lane_change_handler autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_trajectory_adapter autoware_trajectory_concatenator autoware_trajectory_modifier autoware_trajectory_optimizer autoware_trajectory_ranker autoware_trajectory_safety_filter autoware_trajectory_traffic_rule_filter autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_roundabout_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_boundary_departure_prevention_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_calibration_status_classifier autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_diagnostics autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_livox_tag_filter autoware_carla_interface autoware_dummy_perception_publisher autoware_fault_injection autoware_learning_based_vehicle_model autoware_simple_planning_simulator autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_bluetooth_monitor autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_monitor autoware_component_state_monitor autoware_adapi_visualizers autoware_automatic_pose_initializer autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_utils autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_duplicated_node_checker autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_traffic_light_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_datetime_rviz_plugin tier4_manual_lane_change_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

ROS Distro
github

API Docs
Browse Code

Package Summary

Version 0.50.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_universe.git
VCS Type git
VCS Version main
Last Updated 2026-02-25
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The autoware_behavior_velocity_traffic_light_module package

Maintainers

  • Taiki Yamada
  • Mamoru Sobue
  • Yukinari Hisaki

Authors

  • Satoshi Ota
planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/README.md

Traffic Light

Role

Judgement whether a vehicle can go into an intersection or not by traffic light status, and planning a velocity of the stop if necessary. This module is designed for rule-based velocity decision that is easy for developers to design its behavior. It generates proper velocity for traffic light scene.

brief

Limitations

This module allows developers to design STOP/GO in traffic light module using specific rules. Due to the property of rule-based planning, the algorithm is greatly depends on object detection and perception accuracy considering traffic light. Also, this module only handles STOP/Go at traffic light scene, so rushing or quick decision according to traffic condition is future work.

Activation Timing

This module is activated when there is traffic light in ego lane.

Algorithm

  1. Obtains a traffic light mapped to the route and a stop line correspond to the traffic light from a map information.

    • If a corresponding traffic light signal have never been found, it treats as a signal to pass.

    • If a corresponding traffic light signal is found but timed out, it treats as a signal to stop.

  2. Uses the highest reliability one of the traffic light recognition result and if the color of that was not green or corresponding arrow signal, generates a stop point.
    • If an elapsed time to receive stop signal is less than stop_time_hysteresis, it treats as a signal to pass. This feature is to prevent chattering.
  3. When vehicle current velocity is

    • higher than yellow_light_stop_velocity m/s ⇒ pass judge(using next slide formula)

    • lower than yellow_light_stop_velocity m/s ⇒ stop

  4. When it to be judged that vehicle can’t stop before stop line, autoware chooses one of the following behaviors

    • “can pass through” stop line during yellow lamp => pass

    • “can’t pass through” stop line during yellow lamp => emergency stop

Dilemma Zone

brief

  • yellow lamp line

    It’s called “yellow lamp line” which shows the distance traveled by the vehicle during yellow lamp.

  • dilemma zone

    It’s called “dilemma zone” which satisfies following conditions:

    • vehicle can’t pass through stop line during yellow lamp.(right side of the yellow lamp line)

    • vehicle can’t stop under deceleration and jerk limit.(left side of the pass judge curve)

      ⇒emergency stop(relax deceleration and jerk limitation in order to observe the traffic regulation)

  • optional zone

    It’s called “optional zone” which satisfies following conditions:

    • vehicle can pass through stop line during yellow lamp.(left side of the yellow lamp line)

    • vehicle can stop under deceleration and jerk limit.(right side of the pass judge curve)

      ⇒ stop(autoware selects the safety choice)

  • arrow-aware passing on yellow

    This feature enables smooth passing on a yellow signal in turn lanes to avoid sudden braking. Even in situations where the system would normally select STOP (Optional Zone) or EMERGENCY STOP (Dilemma Zone), it overrides the decision and selects PASS if all the following conditions are met:

    • The parameter enable_arrow_aware_yellow_passing is set to true.
    • The ego vehicle is in a turn lane (left or right).
    • The corresponding traffic light has a static arrow bulb defined in the map.
    • The signal state has transitioned from “Green” to “Yellow”. (Note: If the transition is from “Red + Arrow” to “Yellow”, the system decides to STOP for safety as per normal logic.)

Module Parameters

Parameter Type Description
stop_margin double [m] margin before stop point
tl_state_timeout double [s] time out for detected traffic light result.
stop_time_hysteresis double [s] time threshold to decide stop planning for chattering prevention
yellow_lamp_period double [s] time for yellow lamp
yellow_light_stop_velocity double [m/s] velocity threshold for always stopping at a yellow light.
enable_pass_judge bool [-] whether to use pass judge
enable_arrow_aware_yellow_passing bool [-] whether to support arrow-aware passing on yellow
v2i.use_remaining_time bool [-] whether to use V2I remaining time information for traffic light decision
v2i.last_time_allowed_to_pass double [s] relative time against the time of turn to red - safety margin for passing through
v2i.velocity_threshold double [m/s] velocity threshold to change decision logic for V2I prediction
v2i.required_time_to_departure double [s] required time to departure for low speed scenarios to prevent unsafe passing

Flowchart

```plantuml @startuml title modifyPathVelocity start

:calc stop point and insert index;

:find offset segment;

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package autoware_behavior_velocity_traffic_light_module

0.50.0 (2026-02-14)

  • Merge remote-tracking branch 'origin/main' into humble

  • feat!: remove ROS 2 Galactic codes (#11905)

  • feat(autoware_behavior_velocity_traffic_light_module): support arrow-aware passing judgment on yellow signal (#11704)

    • feat: arrow yellow pass
    • ref: change comment out
    • style(pre-commit): autofix
    • docs: add description for yellow pass
    • style(pre-commit): autofix
    • ref: cleaned up the code
    • ref: change param name
    • style(pre-commit): autofix
    • ref: add private variable
    • style(pre-commit): autofix
    • chore: change variable name
    • feat: test module
    • style(pre-commit): autofix
    • chore: add variable comment out
    • chore: rename nongreen variable
    • fix: transition logic doesn't handle the case
    • chore: add comment about yellow signal
    • chore: use the helper method
    • style(pre-commit): autofix
    • fix: lint error
    • ref: improve code health
    • style(pre-commit): autofix
    • fix: comment & test coverage
    • style(pre-commit): autofix
    • ref: change default-initialized properly
    • Update planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/test/test_traffic_light_module.cpp
    • fix: change reference to “lanelet2_utils”
    • ref: use any_of for readability

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com> Co-authored-by: Shumpei Wakabayashi <<42209144+shmpwk@users.noreply.github.com>>

  • Contributors: Ryohsuke Mitsudome, toki-1441

0.49.0 (2025-12-30)

  • Merge remote-tracking branch 'origin/main' into prepare-0.49.0-changelog
  • refactor: fix leftover dependent autoware_utils from updating vehicle_info_utils (#11734)
  • Contributors: Mete Fatih Cırıt, Ryohsuke Mitsudome

0.48.0 (2025-11-18)

  • Merge remote-tracking branch 'origin/main' into humble

  • feat(behavior_velocity_traffic_light_module): use Trajectory instead of PathWithLaneId (#11577) use Trajectory instead of PathWithLaneId

  • fix: tf2 uses hpp headers in rolling (and is backported) (#11620)

  • feat(behavior_velocity_rtc_interface, behavior_velocity_*_module): replace PathWithLaneId with Trajectory<> class (#11555)

  • fix(crosswalk, traffic_light): correct distance calculation by swapping src and dst (#11393)

    • fix: correct distance calculation by swapping src and dst

    * fix: correct distance calculation by swapping src and dst ---------

  • fix(traffic_light_module): update stop line when route changes (#11293)

    • fix traffic light

    * add comment ---------

  • fix(behavior_velocity_traffic_light_module): modify the way the parameter is used (#11263)

    • fix
    • update document

File truncated at 100 lines see the full file

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autoware_agnocast_wrapper autoware_auto_common autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_component_interface_tools autoware_component_interface_utils autoware_cuda_dependency_meta autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_path_distance_calculator autoware_polar_grid autoware_time_utils autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_command_gate autoware_control_performance_analysis autoware_control_validator autoware_external_cmd_selector autoware_joy_controller autoware_lane_departure_checker autoware_mpc_lateral_controller autoware_obstacle_collision_checker autoware_operation_mode_transition_manager autoware_pid_longitudinal_controller autoware_predicted_path_checker autoware_pure_pursuit autoware_shift_decider autoware_smart_mpc_trajectory_follower autoware_spheric_collision_detector autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_tensorrt_vad autoware_control_evaluator autoware_evaluation_adapter autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose2twist autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion autoware_bytetrack autoware_camera_streampetr autoware_cluster_merger autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_ground_segmentation_cuda autoware_image_object_locator autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_frnet autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_range_splitter autoware_object_sorter autoware_object_velocity_splitter autoware_occupancy_grid_map_outlier_filter autoware_predicted_path_postprocessor autoware_probabilistic_occupancy_grid_map autoware_ptv3 autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_bevformer autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_manual_lane_change_handler autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_trajectory_adapter autoware_trajectory_concatenator autoware_trajectory_modifier autoware_trajectory_optimizer autoware_trajectory_ranker autoware_trajectory_safety_filter autoware_trajectory_traffic_rule_filter autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_roundabout_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_boundary_departure_prevention_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_calibration_status_classifier autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_diagnostics autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_livox_tag_filter autoware_carla_interface autoware_dummy_perception_publisher autoware_fault_injection autoware_learning_based_vehicle_model autoware_simple_planning_simulator autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_bluetooth_monitor autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_monitor autoware_component_state_monitor autoware_adapi_visualizers autoware_automatic_pose_initializer autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_utils autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_duplicated_node_checker autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_traffic_light_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_datetime_rviz_plugin tier4_manual_lane_change_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

ROS Distro
github

API Docs
Browse Code
Wiki

Package Summary

Version 0.50.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_universe.git
VCS Type git
VCS Version main
Last Updated 2026-02-25
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The autoware_behavior_velocity_traffic_light_module package

Maintainers

  • Taiki Yamada
  • Mamoru Sobue
  • Yukinari Hisaki

Authors

  • Satoshi Ota
planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/README.md

Traffic Light

Role

Judgement whether a vehicle can go into an intersection or not by traffic light status, and planning a velocity of the stop if necessary. This module is designed for rule-based velocity decision that is easy for developers to design its behavior. It generates proper velocity for traffic light scene.

brief

Limitations

This module allows developers to design STOP/GO in traffic light module using specific rules. Due to the property of rule-based planning, the algorithm is greatly depends on object detection and perception accuracy considering traffic light. Also, this module only handles STOP/Go at traffic light scene, so rushing or quick decision according to traffic condition is future work.

Activation Timing

This module is activated when there is traffic light in ego lane.

Algorithm

  1. Obtains a traffic light mapped to the route and a stop line correspond to the traffic light from a map information.

    • If a corresponding traffic light signal have never been found, it treats as a signal to pass.

    • If a corresponding traffic light signal is found but timed out, it treats as a signal to stop.

  2. Uses the highest reliability one of the traffic light recognition result and if the color of that was not green or corresponding arrow signal, generates a stop point.
    • If an elapsed time to receive stop signal is less than stop_time_hysteresis, it treats as a signal to pass. This feature is to prevent chattering.
  3. When vehicle current velocity is

    • higher than yellow_light_stop_velocity m/s ⇒ pass judge(using next slide formula)

    • lower than yellow_light_stop_velocity m/s ⇒ stop

  4. When it to be judged that vehicle can’t stop before stop line, autoware chooses one of the following behaviors

    • “can pass through” stop line during yellow lamp => pass

    • “can’t pass through” stop line during yellow lamp => emergency stop

Dilemma Zone

brief

  • yellow lamp line

    It’s called “yellow lamp line” which shows the distance traveled by the vehicle during yellow lamp.

  • dilemma zone

    It’s called “dilemma zone” which satisfies following conditions:

    • vehicle can’t pass through stop line during yellow lamp.(right side of the yellow lamp line)

    • vehicle can’t stop under deceleration and jerk limit.(left side of the pass judge curve)

      ⇒emergency stop(relax deceleration and jerk limitation in order to observe the traffic regulation)

  • optional zone

    It’s called “optional zone” which satisfies following conditions:

    • vehicle can pass through stop line during yellow lamp.(left side of the yellow lamp line)

    • vehicle can stop under deceleration and jerk limit.(right side of the pass judge curve)

      ⇒ stop(autoware selects the safety choice)

  • arrow-aware passing on yellow

    This feature enables smooth passing on a yellow signal in turn lanes to avoid sudden braking. Even in situations where the system would normally select STOP (Optional Zone) or EMERGENCY STOP (Dilemma Zone), it overrides the decision and selects PASS if all the following conditions are met:

    • The parameter enable_arrow_aware_yellow_passing is set to true.
    • The ego vehicle is in a turn lane (left or right).
    • The corresponding traffic light has a static arrow bulb defined in the map.
    • The signal state has transitioned from “Green” to “Yellow”. (Note: If the transition is from “Red + Arrow” to “Yellow”, the system decides to STOP for safety as per normal logic.)

Module Parameters

Parameter Type Description
stop_margin double [m] margin before stop point
tl_state_timeout double [s] time out for detected traffic light result.
stop_time_hysteresis double [s] time threshold to decide stop planning for chattering prevention
yellow_lamp_period double [s] time for yellow lamp
yellow_light_stop_velocity double [m/s] velocity threshold for always stopping at a yellow light.
enable_pass_judge bool [-] whether to use pass judge
enable_arrow_aware_yellow_passing bool [-] whether to support arrow-aware passing on yellow
v2i.use_remaining_time bool [-] whether to use V2I remaining time information for traffic light decision
v2i.last_time_allowed_to_pass double [s] relative time against the time of turn to red - safety margin for passing through
v2i.velocity_threshold double [m/s] velocity threshold to change decision logic for V2I prediction
v2i.required_time_to_departure double [s] required time to departure for low speed scenarios to prevent unsafe passing

Flowchart

```plantuml @startuml title modifyPathVelocity start

:calc stop point and insert index;

:find offset segment;

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package autoware_behavior_velocity_traffic_light_module

0.50.0 (2026-02-14)

  • Merge remote-tracking branch 'origin/main' into humble

  • feat!: remove ROS 2 Galactic codes (#11905)

  • feat(autoware_behavior_velocity_traffic_light_module): support arrow-aware passing judgment on yellow signal (#11704)

    • feat: arrow yellow pass
    • ref: change comment out
    • style(pre-commit): autofix
    • docs: add description for yellow pass
    • style(pre-commit): autofix
    • ref: cleaned up the code
    • ref: change param name
    • style(pre-commit): autofix
    • ref: add private variable
    • style(pre-commit): autofix
    • chore: change variable name
    • feat: test module
    • style(pre-commit): autofix
    • chore: add variable comment out
    • chore: rename nongreen variable
    • fix: transition logic doesn't handle the case
    • chore: add comment about yellow signal
    • chore: use the helper method
    • style(pre-commit): autofix
    • fix: lint error
    • ref: improve code health
    • style(pre-commit): autofix
    • fix: comment & test coverage
    • style(pre-commit): autofix
    • ref: change default-initialized properly
    • Update planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/test/test_traffic_light_module.cpp
    • fix: change reference to “lanelet2_utils”
    • ref: use any_of for readability

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com> Co-authored-by: Shumpei Wakabayashi <<42209144+shmpwk@users.noreply.github.com>>

  • Contributors: Ryohsuke Mitsudome, toki-1441

0.49.0 (2025-12-30)

  • Merge remote-tracking branch 'origin/main' into prepare-0.49.0-changelog
  • refactor: fix leftover dependent autoware_utils from updating vehicle_info_utils (#11734)
  • Contributors: Mete Fatih Cırıt, Ryohsuke Mitsudome

0.48.0 (2025-11-18)

  • Merge remote-tracking branch 'origin/main' into humble

  • feat(behavior_velocity_traffic_light_module): use Trajectory instead of PathWithLaneId (#11577) use Trajectory instead of PathWithLaneId

  • fix: tf2 uses hpp headers in rolling (and is backported) (#11620)

  • feat(behavior_velocity_rtc_interface, behavior_velocity_*_module): replace PathWithLaneId with Trajectory<> class (#11555)

  • fix(crosswalk, traffic_light): correct distance calculation by swapping src and dst (#11393)

    • fix: correct distance calculation by swapping src and dst

    * fix: correct distance calculation by swapping src and dst ---------

  • fix(traffic_light_module): update stop line when route changes (#11293)

    • fix traffic light

    * add comment ---------

  • fix(behavior_velocity_traffic_light_module): modify the way the parameter is used (#11263)

    • fix
    • update document

File truncated at 100 lines see the full file

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Recent questions tagged autoware_behavior_velocity_traffic_light_module at Robotics Stack Exchange

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autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_ground_segmentation_cuda autoware_image_object_locator autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_frnet autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_range_splitter autoware_object_sorter autoware_object_velocity_splitter autoware_occupancy_grid_map_outlier_filter autoware_predicted_path_postprocessor autoware_probabilistic_occupancy_grid_map autoware_ptv3 autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_bevformer autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_manual_lane_change_handler autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector 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autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_roundabout_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_boundary_departure_prevention_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator 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autoware_traffic_light_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_datetime_rviz_plugin tier4_manual_lane_change_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

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Package Summary

Version 0.50.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_universe.git
VCS Type git
VCS Version main
Last Updated 2026-02-25
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The autoware_behavior_velocity_traffic_light_module package

Maintainers

  • Taiki Yamada
  • Mamoru Sobue
  • Yukinari Hisaki

Authors

  • Satoshi Ota
planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/README.md

Traffic Light

Role

Judgement whether a vehicle can go into an intersection or not by traffic light status, and planning a velocity of the stop if necessary. This module is designed for rule-based velocity decision that is easy for developers to design its behavior. It generates proper velocity for traffic light scene.

brief

Limitations

This module allows developers to design STOP/GO in traffic light module using specific rules. Due to the property of rule-based planning, the algorithm is greatly depends on object detection and perception accuracy considering traffic light. Also, this module only handles STOP/Go at traffic light scene, so rushing or quick decision according to traffic condition is future work.

Activation Timing

This module is activated when there is traffic light in ego lane.

Algorithm

  1. Obtains a traffic light mapped to the route and a stop line correspond to the traffic light from a map information.

    • If a corresponding traffic light signal have never been found, it treats as a signal to pass.

    • If a corresponding traffic light signal is found but timed out, it treats as a signal to stop.

  2. Uses the highest reliability one of the traffic light recognition result and if the color of that was not green or corresponding arrow signal, generates a stop point.
    • If an elapsed time to receive stop signal is less than stop_time_hysteresis, it treats as a signal to pass. This feature is to prevent chattering.
  3. When vehicle current velocity is

    • higher than yellow_light_stop_velocity m/s ⇒ pass judge(using next slide formula)

    • lower than yellow_light_stop_velocity m/s ⇒ stop

  4. When it to be judged that vehicle can’t stop before stop line, autoware chooses one of the following behaviors

    • “can pass through” stop line during yellow lamp => pass

    • “can’t pass through” stop line during yellow lamp => emergency stop

Dilemma Zone

brief

  • yellow lamp line

    It’s called “yellow lamp line” which shows the distance traveled by the vehicle during yellow lamp.

  • dilemma zone

    It’s called “dilemma zone” which satisfies following conditions:

    • vehicle can’t pass through stop line during yellow lamp.(right side of the yellow lamp line)

    • vehicle can’t stop under deceleration and jerk limit.(left side of the pass judge curve)

      ⇒emergency stop(relax deceleration and jerk limitation in order to observe the traffic regulation)

  • optional zone

    It’s called “optional zone” which satisfies following conditions:

    • vehicle can pass through stop line during yellow lamp.(left side of the yellow lamp line)

    • vehicle can stop under deceleration and jerk limit.(right side of the pass judge curve)

      ⇒ stop(autoware selects the safety choice)

  • arrow-aware passing on yellow

    This feature enables smooth passing on a yellow signal in turn lanes to avoid sudden braking. Even in situations where the system would normally select STOP (Optional Zone) or EMERGENCY STOP (Dilemma Zone), it overrides the decision and selects PASS if all the following conditions are met:

    • The parameter enable_arrow_aware_yellow_passing is set to true.
    • The ego vehicle is in a turn lane (left or right).
    • The corresponding traffic light has a static arrow bulb defined in the map.
    • The signal state has transitioned from “Green” to “Yellow”. (Note: If the transition is from “Red + Arrow” to “Yellow”, the system decides to STOP for safety as per normal logic.)

Module Parameters

Parameter Type Description
stop_margin double [m] margin before stop point
tl_state_timeout double [s] time out for detected traffic light result.
stop_time_hysteresis double [s] time threshold to decide stop planning for chattering prevention
yellow_lamp_period double [s] time for yellow lamp
yellow_light_stop_velocity double [m/s] velocity threshold for always stopping at a yellow light.
enable_pass_judge bool [-] whether to use pass judge
enable_arrow_aware_yellow_passing bool [-] whether to support arrow-aware passing on yellow
v2i.use_remaining_time bool [-] whether to use V2I remaining time information for traffic light decision
v2i.last_time_allowed_to_pass double [s] relative time against the time of turn to red - safety margin for passing through
v2i.velocity_threshold double [m/s] velocity threshold to change decision logic for V2I prediction
v2i.required_time_to_departure double [s] required time to departure for low speed scenarios to prevent unsafe passing

Flowchart

```plantuml @startuml title modifyPathVelocity start

:calc stop point and insert index;

:find offset segment;

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package autoware_behavior_velocity_traffic_light_module

0.50.0 (2026-02-14)

  • Merge remote-tracking branch 'origin/main' into humble

  • feat!: remove ROS 2 Galactic codes (#11905)

  • feat(autoware_behavior_velocity_traffic_light_module): support arrow-aware passing judgment on yellow signal (#11704)

    • feat: arrow yellow pass
    • ref: change comment out
    • style(pre-commit): autofix
    • docs: add description for yellow pass
    • style(pre-commit): autofix
    • ref: cleaned up the code
    • ref: change param name
    • style(pre-commit): autofix
    • ref: add private variable
    • style(pre-commit): autofix
    • chore: change variable name
    • feat: test module
    • style(pre-commit): autofix
    • chore: add variable comment out
    • chore: rename nongreen variable
    • fix: transition logic doesn't handle the case
    • chore: add comment about yellow signal
    • chore: use the helper method
    • style(pre-commit): autofix
    • fix: lint error
    • ref: improve code health
    • style(pre-commit): autofix
    • fix: comment & test coverage
    • style(pre-commit): autofix
    • ref: change default-initialized properly
    • Update planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/test/test_traffic_light_module.cpp
    • fix: change reference to “lanelet2_utils”
    • ref: use any_of for readability

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com> Co-authored-by: Shumpei Wakabayashi <<42209144+shmpwk@users.noreply.github.com>>

  • Contributors: Ryohsuke Mitsudome, toki-1441

0.49.0 (2025-12-30)

  • Merge remote-tracking branch 'origin/main' into prepare-0.49.0-changelog
  • refactor: fix leftover dependent autoware_utils from updating vehicle_info_utils (#11734)
  • Contributors: Mete Fatih Cırıt, Ryohsuke Mitsudome

0.48.0 (2025-11-18)

  • Merge remote-tracking branch 'origin/main' into humble

  • feat(behavior_velocity_traffic_light_module): use Trajectory instead of PathWithLaneId (#11577) use Trajectory instead of PathWithLaneId

  • fix: tf2 uses hpp headers in rolling (and is backported) (#11620)

  • feat(behavior_velocity_rtc_interface, behavior_velocity_*_module): replace PathWithLaneId with Trajectory<> class (#11555)

  • fix(crosswalk, traffic_light): correct distance calculation by swapping src and dst (#11393)

    • fix: correct distance calculation by swapping src and dst

    * fix: correct distance calculation by swapping src and dst ---------

  • fix(traffic_light_module): update stop line when route changes (#11293)

    • fix traffic light

    * add comment ---------

  • fix(behavior_velocity_traffic_light_module): modify the way the parameter is used (#11263)

    • fix
    • update document

File truncated at 100 lines see the full file

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Recent questions tagged autoware_behavior_velocity_traffic_light_module at Robotics Stack Exchange