Lane Departure Checker

The Lane Departure Checker checks if vehicle follows a trajectory. If it does not follow the trajectory, it reports its status via diagnostic_updater.

Features

This package includes the following features:

• Lane Departure: Check if ego vehicle is going to be out of lane boundaries based on output from control module (predicted trajectory).
• Trajectory Deviation: Check if ego vehicle’s pose does not deviate from the trajectory. Checking lateral, longitudinal and yaw deviation.
• Road Border Departure: Check if ego vehicle’s footprint, generated from the control’s output, extends beyond the road border.

Inner-workings / Algorithms

How to extend footprint by covariance

1. Calculate the standard deviation of error ellipse(covariance) in vehicle coordinate.

   1.Transform covariance into vehicle coordinate.

   \[\begin{align} \left( \begin{array}{cc} x_{vehicle}\\ y_{vehicle}\\ \end{array} \right) = R_{map2vehicle} \left( \begin{array}{cc} x_{map}\\ y_{map}\\ \end{array} \right) \end{align}\]

   Calculate covariance in vehicle coordinate.

   \[\begin{align} Cov_{vehicle} &= E \left[ \left( \begin{array}{cc} x_{vehicle}\\ y_{vehicle}\\ \end{array} \right) (x_{vehicle}, y_{vehicle}) \right] \\ &= E \left[ R\left( \begin{array}{cc} x_{map}\\ y_{map}\\ \end{array} \right) (x_{map}, y_{map})R^t \right] \\ &= R E\left[ \left( \begin{array}{cc} x_{map}\\ y_{map}\\ \end{array} \right) (x_{map}, y_{map}) \right] R^t \\ &= R Cov_{map} R^t \end{align}\]

   2.The longitudinal length we want to expand is correspond to marginal distribution of $x_{vehicle}$, which is represented in $Cov_{vehicle}(0,0)$. In the same way, the lateral length is represented in $Cov_{vehicle}(1,1)$. Wikipedia reference here.

2. Expand footprint based on the standard deviation multiplied with footprint_margin_scale.

Interface

Input

• /localization/kinematic_state [nav_msgs::msg::Odometry]
• /map/vector_map [autoware_map_msgs::msg::LaneletMapBin]
• /planning/mission_planning/route [autoware_planning_msgs::msg::LaneletRoute]
• /planning/trajectory [autoware_planning_msgs::msg::Trajectory]
• /control/trajectory_follower/predicted_trajectory [autoware_planning_msgs::msg::Trajectory]

Output

• [diagnostic_updater] lane_departure : Update diagnostic level when ego vehicle is out of lane.

Parameters

Node Parameters

General Parameters

Parameters For Lane Departure

Parameters For Road Border Departure

Core Parameters

File truncated at 100 lines see the full file

Changelog for package autoware_lane_departure_checker

0.47.0 (2025-08-11)

• feat: change planning output topic name to /planning/trajectory (#11135)

  • change planning output topic name to /planning/trajectory

  * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

• Contributors: Yukihiro Saito

0.46.0 (2025-06-20)

0.45.0 (2025-05-22)

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

• refactor(departure_checker): move lane departure checker class to departure_checker (#10337)

  • RT1-9640: separate lane departure checker library
  • move back parameter
  • separating parameters
  • renamed to boundary departure checker
  • pre-commit
  • remove trajectory deviation
  • rename namespace
  • move boundary departure checker to common folder

  * rename class name ---------

• Contributors: TaikiYamada4, Zulfaqar Azmi

0.44.2 (2025-06-10)

0.44.1 (2025-05-01)

0.44.0 (2025-04-18)

0.43.0 (2025-03-21)

• Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43

• refactor(control): remove unimplemented function declarations (#10314) remove unimplemented function declarations

• chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)

• fix(lane_departure_checker): fix trajectory resampling logic to keep given interval (#10221)

  • fix(lane_departure_checker): fix trajectory resampling logic to keep given interval

  * test(lane_departure_checker): add test case for consecutive small distances followed by large distance ---------

• Contributors: Autumn60, Hayato Mizushima, Kyoichi Sugahara, Yutaka Kondo

0.42.0 (2025-03-03)

• Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
• feat(autoware_utils): replace autoware_universe_utils with autoware_utils (#10191)
• feat(autoware_vehicle_info_utils): replace autoware_universe_utils with autoware_utils (#10167)
• feat!: replace tier4_planning_msgs/PathWithLaneId with autoware_internal_planning_msgs/PathWithLaneId (#10023)
• Contributors: Fumiya Watanabe, Ryohsuke Mitsudome, 心刚

0.41.2 (2025-02-19)

• chore: bump version to 0.41.1 (#10088)
• Contributors: Ryohsuke Mitsudome

0.41.1 (2025-02-10)

0.41.0 (2025-01-29)

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

• refactor(lane_departure_checker): improve LaneDepartureChecker

File truncated at 100 lines see the full file