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autoware_motion_velocity_road_user_stop_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

road_user_stop module to stop ego vehicle when road users (pedestrians, cyclists) are on the road

Maintainers

Takumi Odashima
Yuki Takagi
Satoshi Ota

Authors

No additional authors.

planning/motion_velocity_planner/autoware_motion_velocity_road_user_stop_module/README.md

Road User Stop

Role

The road_user_stop module stops the ego vehicle when pedestrians, cyclists, or other road users are detected on or near the road within the ego’s planned trajectory. This module ensures safe interaction with vulnerable road users by maintaining appropriate stopping distances and making decisions about when to stop versus when to continue driving.

Activation

This module is activated if the launch parameter launch_road_user_stop_module is set to true.

Parameters

Option Parameters

Name	Unit	Type	Description	Default value
suppress_sudden_stop	[-]	bool	Enable to suppress sudden stop	true

Stop Planning Parameters

Longitudinal Margin Parameters

Name	Unit	Type	Description	Default value
default_margin	[m]	double	Default longitudinal margin to obstacle	5.0
terminal_margin	[m]	double	Stop margin at the goal position	3.0
minimum_margin	[m]	double	Minimum stop margin for behavior decision	3.0

Opposing Traffic Parameters

Name	Unit	Type	Description	Default value
stop_margin	[m]	double	Ideal stop-margin from moving opposing obstacle when ego stops	10.0
max_negative_velocity	[m/s]	double	Maximum velocity of opposing traffic to consider stop planning	-0.1
min_velocity_for_stop_planning	[m/s]	double	Minimum velocity of ego to consider stop planning	2.77
effective_deceleration	[m/s^2]	double	Higher value brings final stop-margin closer to ideal value	4.0

General Stop Planning Parameters

Name	Unit	Type	Description	Default value
hold_stop_velocity_threshold	[m/s]	double	The maximum ego velocity to hold stopping	0.01
hold_stop_distance_threshold	[m]	double	The ego keeps stopping if distance to stop changes within threshold	0.3
limit_min_acc	[m/s^2]	double	Overwrite the deceleration limit (usually from common_param.yaml)	-2.5
sudden_object_acc_threshold	[m/s^2]	double	If stop achievable by smaller deceleration, not “sudden stop”	-1.0
sudden_object_dist_threshold	[m]	double	If stop distance is longer than this, not considered “sudden stop”	1000.0
abandon_to_stop	[-]	bool	Give up stopping when cannot avoid run over within decel limit	false

Stop on Curve Parameters

Name	Unit	Type	Description	Default value
enable_approaching	[-]	bool	Enable approaching behavior on curved paths	false
additional_stop_margin	[m]	double	Additional stop margin for obstacles on curves	3.0
min_stop_margin	[m]	double	Minimum stop margin on curves	6.0

Obstacle Filtering Parameters

Object Type Parameters

Name	Unit	Type	Description	Default value
pedestrian	[-]	bool	Enable detection of pedestrians	true
bicycle	[-]	bool	Enable detection of bicycles	true
motorcycle	[-]	bool	Enable detection of motorcycles	false
unknown	[-]	bool	Enable detection of unknown objects	false

General Filtering Parameters

Name	Unit	Type	Description	Default value
trajectory_lateral_margin	[m]	double	Lateral margin from ego trajectory to detect objects	1.0

Intersection Parameters

Name	Unit	Type	Description	Default value
exclude	[-]	bool	If true, exclude objects inside intersection lanelets from detection	false

Crosswalk Parameters

Name	Unit	Type	Description	Default value
exclude	[-]	bool	Exclude objects near crosswalks	true
margin	[m]	double	Margin distance from crosswalk	1.0

Opposing Traffic Detection Parameters

Name	Unit	Type	Description	Default value
enable	[-]	bool	Enable wrong-way object detection	true
angle_threshold	[deg]	double	Angle threshold for wrong-way detection	150.0
min_speed_threshold	[m/s]	double	Minimum speed for wrong-way detection	0.5

Temporal Filtering Parameters

Name	Unit	Type	Description	Default value
min_detection_duration	[s]	double	Minimum duration for object detection	0.1
lost_object_retention_duration	[s]	double	Duration to keep tracking objects after they are lost or exit the detection area	2.0

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package autoware_motion_velocity_road_user_stop_module

0.50.0 (2026-02-14)

Merge remote-tracking branch 'origin/main' into humble
perf(road_user_stop): reduce the number of published debug markers (#11865)
feat(motion_velocity_planner): publish debug trajectory for each module (#11781)
Contributors: Maxime CLEMENT, Ryohsuke Mitsudome

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)
fix(road_user_stop): fix topic name string (#11678)
feat(motion_velocity_planner): refactor time publisher (#11646)
- delete bdp time publish
- delete dynamic_obstacle_stop time publish
- delete obstacle_cruise time publish
- delete obstacle_slow_down time publish
- delete obstacle_velocity_limiter time publish
- delete out of lane time publish
- delete run out time publish
* add short module name function ---------
Contributors: Mete Fatih Cırıt, Ryohsuke Mitsudome, Yuki TAKAGI

0.48.0 (2025-11-18)

Merge remote-tracking branch 'origin/main' into humble
fix(road_user_stop): delete path_length_buffer (#11653)
fix: tf2 uses hpp headers in rolling (and is backported) (#11620)
docs(road_user_stop): add parameter docs (#11539) add parameters docs
feat(road_user_stop): exclude ego vehicle's sides from detection area (#11496)
- exclude ego side polygon
- fix typo
* delete polygon_utils copy function ---------
feat(road_user_stop): pass for stop vru (#11491)
- pass for stop vru
* fix cppcheck ---------
Contributors: Kotakku, Ryohsuke Mitsudome, Tim Clephas, Yuki TAKAGI

0.47.1 (2025-08-14)

0.47.0 (2025-08-11)

fix(road_user_stop): remove generate_parameter_library's default_value parameters (#11117)
- delete generate_parameter_library's_default_value parameter
* rerun ci ---------
feat(road_user_stop): add road_user_stop module (#11041)
- initial commit of road_user_stop module
- add stop condition for wrong user and masked adjacent lanelet
- update detection and stop planning method
- change stop plan algorithm
- use generate_parameter_library
- chattering prevention and on/off parameterize of intersection and crosswalk
- change detection method of intersection, and tidy up
- enable gtest
- fix default parameter to match obstacle_stop
- code tidy up
- update readme
- fix based on PR review
- remove dead code

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_auto
	autoware_cmake
	generate_parameter_library
	ament_cmake_ros
	ament_lint_auto
	autoware_lint_common
	autoware_lanelet2_extension
	autoware_motion_utils
	autoware_motion_velocity_planner_common
	autoware_perception_msgs
	autoware_planning_msgs
	autoware_route_handler
	autoware_universe_utils
	autoware_utils_geometry
	autoware_vehicle_info_utils
	geometry_msgs
	pluginlib
	rclcpp
	tf2
	tf2_geometry_msgs
	visualization_msgs

System Dependencies

Name
libboost-dev

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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autoware_motion_velocity_road_user_stop_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

road_user_stop module to stop ego vehicle when road users (pedestrians, cyclists) are on the road

Maintainers

Takumi Odashima
Yuki Takagi
Satoshi Ota

Authors

No additional authors.

planning/motion_velocity_planner/autoware_motion_velocity_road_user_stop_module/README.md

Road User Stop

Role

The road_user_stop module stops the ego vehicle when pedestrians, cyclists, or other road users are detected on or near the road within the ego’s planned trajectory. This module ensures safe interaction with vulnerable road users by maintaining appropriate stopping distances and making decisions about when to stop versus when to continue driving.

Activation

This module is activated if the launch parameter launch_road_user_stop_module is set to true.

Parameters

Option Parameters

Name	Unit	Type	Description	Default value
suppress_sudden_stop	[-]	bool	Enable to suppress sudden stop	true

Stop Planning Parameters

Longitudinal Margin Parameters

Name	Unit	Type	Description	Default value
default_margin	[m]	double	Default longitudinal margin to obstacle	5.0
terminal_margin	[m]	double	Stop margin at the goal position	3.0
minimum_margin	[m]	double	Minimum stop margin for behavior decision	3.0

Opposing Traffic Parameters

Name	Unit	Type	Description	Default value
stop_margin	[m]	double	Ideal stop-margin from moving opposing obstacle when ego stops	10.0
max_negative_velocity	[m/s]	double	Maximum velocity of opposing traffic to consider stop planning	-0.1
min_velocity_for_stop_planning	[m/s]	double	Minimum velocity of ego to consider stop planning	2.77
effective_deceleration	[m/s^2]	double	Higher value brings final stop-margin closer to ideal value	4.0

General Stop Planning Parameters

Name	Unit	Type	Description	Default value
hold_stop_velocity_threshold	[m/s]	double	The maximum ego velocity to hold stopping	0.01
hold_stop_distance_threshold	[m]	double	The ego keeps stopping if distance to stop changes within threshold	0.3
limit_min_acc	[m/s^2]	double	Overwrite the deceleration limit (usually from common_param.yaml)	-2.5
sudden_object_acc_threshold	[m/s^2]	double	If stop achievable by smaller deceleration, not “sudden stop”	-1.0
sudden_object_dist_threshold	[m]	double	If stop distance is longer than this, not considered “sudden stop”	1000.0
abandon_to_stop	[-]	bool	Give up stopping when cannot avoid run over within decel limit	false

Stop on Curve Parameters

Name	Unit	Type	Description	Default value
enable_approaching	[-]	bool	Enable approaching behavior on curved paths	false
additional_stop_margin	[m]	double	Additional stop margin for obstacles on curves	3.0
min_stop_margin	[m]	double	Minimum stop margin on curves	6.0

Obstacle Filtering Parameters

Object Type Parameters

Name	Unit	Type	Description	Default value
pedestrian	[-]	bool	Enable detection of pedestrians	true
bicycle	[-]	bool	Enable detection of bicycles	true
motorcycle	[-]	bool	Enable detection of motorcycles	false
unknown	[-]	bool	Enable detection of unknown objects	false

General Filtering Parameters

Name	Unit	Type	Description	Default value
trajectory_lateral_margin	[m]	double	Lateral margin from ego trajectory to detect objects	1.0

Intersection Parameters

Name	Unit	Type	Description	Default value
exclude	[-]	bool	If true, exclude objects inside intersection lanelets from detection	false

Crosswalk Parameters

Name	Unit	Type	Description	Default value
exclude	[-]	bool	Exclude objects near crosswalks	true
margin	[m]	double	Margin distance from crosswalk	1.0

Opposing Traffic Detection Parameters

Name	Unit	Type	Description	Default value
enable	[-]	bool	Enable wrong-way object detection	true
angle_threshold	[deg]	double	Angle threshold for wrong-way detection	150.0
min_speed_threshold	[m/s]	double	Minimum speed for wrong-way detection	0.5

Temporal Filtering Parameters

Name	Unit	Type	Description	Default value
min_detection_duration	[s]	double	Minimum duration for object detection	0.1
lost_object_retention_duration	[s]	double	Duration to keep tracking objects after they are lost or exit the detection area	2.0

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package autoware_motion_velocity_road_user_stop_module

0.50.0 (2026-02-14)

Merge remote-tracking branch 'origin/main' into humble
perf(road_user_stop): reduce the number of published debug markers (#11865)
feat(motion_velocity_planner): publish debug trajectory for each module (#11781)
Contributors: Maxime CLEMENT, Ryohsuke Mitsudome

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)
fix(road_user_stop): fix topic name string (#11678)
feat(motion_velocity_planner): refactor time publisher (#11646)
- delete bdp time publish
- delete dynamic_obstacle_stop time publish
- delete obstacle_cruise time publish
- delete obstacle_slow_down time publish
- delete obstacle_velocity_limiter time publish
- delete out of lane time publish
- delete run out time publish
* add short module name function ---------
Contributors: Mete Fatih Cırıt, Ryohsuke Mitsudome, Yuki TAKAGI

0.48.0 (2025-11-18)

Merge remote-tracking branch 'origin/main' into humble
fix(road_user_stop): delete path_length_buffer (#11653)
fix: tf2 uses hpp headers in rolling (and is backported) (#11620)
docs(road_user_stop): add parameter docs (#11539) add parameters docs
feat(road_user_stop): exclude ego vehicle's sides from detection area (#11496)
- exclude ego side polygon
- fix typo
* delete polygon_utils copy function ---------
feat(road_user_stop): pass for stop vru (#11491)
- pass for stop vru
* fix cppcheck ---------
Contributors: Kotakku, Ryohsuke Mitsudome, Tim Clephas, Yuki TAKAGI

0.47.1 (2025-08-14)

0.47.0 (2025-08-11)

fix(road_user_stop): remove generate_parameter_library's default_value parameters (#11117)
- delete generate_parameter_library's_default_value parameter
* rerun ci ---------
feat(road_user_stop): add road_user_stop module (#11041)
- initial commit of road_user_stop module
- add stop condition for wrong user and masked adjacent lanelet
- update detection and stop planning method
- change stop plan algorithm
- use generate_parameter_library
- chattering prevention and on/off parameterize of intersection and crosswalk
- change detection method of intersection, and tidy up
- enable gtest
- fix default parameter to match obstacle_stop
- code tidy up
- update readme
- fix based on PR review
- remove dead code

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_auto
	autoware_cmake
	generate_parameter_library
	ament_cmake_ros
	ament_lint_auto
	autoware_lint_common
	autoware_lanelet2_extension
	autoware_motion_utils
	autoware_motion_velocity_planner_common
	autoware_perception_msgs
	autoware_planning_msgs
	autoware_route_handler
	autoware_universe_utils
	autoware_utils_geometry
	autoware_vehicle_info_utils
	geometry_msgs
	pluginlib
	rclcpp
	tf2
	tf2_geometry_msgs
	visualization_msgs

System Dependencies

Name
libboost-dev

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_motion_velocity_road_user_stop_module` at Robotics Stack Exchange

API Docs Browse Code

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autoware_motion_velocity_road_user_stop_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

road_user_stop module to stop ego vehicle when road users (pedestrians, cyclists) are on the road

Maintainers

Takumi Odashima
Yuki Takagi
Satoshi Ota

Authors

No additional authors.

planning/motion_velocity_planner/autoware_motion_velocity_road_user_stop_module/README.md

Road User Stop

Role

The road_user_stop module stops the ego vehicle when pedestrians, cyclists, or other road users are detected on or near the road within the ego’s planned trajectory. This module ensures safe interaction with vulnerable road users by maintaining appropriate stopping distances and making decisions about when to stop versus when to continue driving.

Activation

This module is activated if the launch parameter launch_road_user_stop_module is set to true.

Parameters

Option Parameters

Name	Unit	Type	Description	Default value
suppress_sudden_stop	[-]	bool	Enable to suppress sudden stop	true

Stop Planning Parameters

Longitudinal Margin Parameters

Name	Unit	Type	Description	Default value
default_margin	[m]	double	Default longitudinal margin to obstacle	5.0
terminal_margin	[m]	double	Stop margin at the goal position	3.0
minimum_margin	[m]	double	Minimum stop margin for behavior decision	3.0

Opposing Traffic Parameters

Name	Unit	Type	Description	Default value
stop_margin	[m]	double	Ideal stop-margin from moving opposing obstacle when ego stops	10.0
max_negative_velocity	[m/s]	double	Maximum velocity of opposing traffic to consider stop planning	-0.1
min_velocity_for_stop_planning	[m/s]	double	Minimum velocity of ego to consider stop planning	2.77
effective_deceleration	[m/s^2]	double	Higher value brings final stop-margin closer to ideal value	4.0

General Stop Planning Parameters

Name	Unit	Type	Description	Default value
hold_stop_velocity_threshold	[m/s]	double	The maximum ego velocity to hold stopping	0.01
hold_stop_distance_threshold	[m]	double	The ego keeps stopping if distance to stop changes within threshold	0.3
limit_min_acc	[m/s^2]	double	Overwrite the deceleration limit (usually from common_param.yaml)	-2.5
sudden_object_acc_threshold	[m/s^2]	double	If stop achievable by smaller deceleration, not “sudden stop”	-1.0
sudden_object_dist_threshold	[m]	double	If stop distance is longer than this, not considered “sudden stop”	1000.0
abandon_to_stop	[-]	bool	Give up stopping when cannot avoid run over within decel limit	false

Stop on Curve Parameters

Name	Unit	Type	Description	Default value
enable_approaching	[-]	bool	Enable approaching behavior on curved paths	false
additional_stop_margin	[m]	double	Additional stop margin for obstacles on curves	3.0
min_stop_margin	[m]	double	Minimum stop margin on curves	6.0

Obstacle Filtering Parameters

Object Type Parameters

Name	Unit	Type	Description	Default value
pedestrian	[-]	bool	Enable detection of pedestrians	true
bicycle	[-]	bool	Enable detection of bicycles	true
motorcycle	[-]	bool	Enable detection of motorcycles	false
unknown	[-]	bool	Enable detection of unknown objects	false

General Filtering Parameters

Name	Unit	Type	Description	Default value
trajectory_lateral_margin	[m]	double	Lateral margin from ego trajectory to detect objects	1.0

Intersection Parameters

Name	Unit	Type	Description	Default value
exclude	[-]	bool	If true, exclude objects inside intersection lanelets from detection	false

Crosswalk Parameters

Name	Unit	Type	Description	Default value
exclude	[-]	bool	Exclude objects near crosswalks	true
margin	[m]	double	Margin distance from crosswalk	1.0

Opposing Traffic Detection Parameters

Name	Unit	Type	Description	Default value
enable	[-]	bool	Enable wrong-way object detection	true
angle_threshold	[deg]	double	Angle threshold for wrong-way detection	150.0
min_speed_threshold	[m/s]	double	Minimum speed for wrong-way detection	0.5

Temporal Filtering Parameters

Name	Unit	Type	Description	Default value
min_detection_duration	[s]	double	Minimum duration for object detection	0.1
lost_object_retention_duration	[s]	double	Duration to keep tracking objects after they are lost or exit the detection area	2.0

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package autoware_motion_velocity_road_user_stop_module

0.50.0 (2026-02-14)

Merge remote-tracking branch 'origin/main' into humble
perf(road_user_stop): reduce the number of published debug markers (#11865)
feat(motion_velocity_planner): publish debug trajectory for each module (#11781)
Contributors: Maxime CLEMENT, Ryohsuke Mitsudome

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)
fix(road_user_stop): fix topic name string (#11678)
feat(motion_velocity_planner): refactor time publisher (#11646)
- delete bdp time publish
- delete dynamic_obstacle_stop time publish
- delete obstacle_cruise time publish
- delete obstacle_slow_down time publish
- delete obstacle_velocity_limiter time publish
- delete out of lane time publish
- delete run out time publish
* add short module name function ---------
Contributors: Mete Fatih Cırıt, Ryohsuke Mitsudome, Yuki TAKAGI

0.48.0 (2025-11-18)

Merge remote-tracking branch 'origin/main' into humble
fix(road_user_stop): delete path_length_buffer (#11653)
fix: tf2 uses hpp headers in rolling (and is backported) (#11620)
docs(road_user_stop): add parameter docs (#11539) add parameters docs
feat(road_user_stop): exclude ego vehicle's sides from detection area (#11496)
- exclude ego side polygon
- fix typo
* delete polygon_utils copy function ---------
feat(road_user_stop): pass for stop vru (#11491)
- pass for stop vru
* fix cppcheck ---------
Contributors: Kotakku, Ryohsuke Mitsudome, Tim Clephas, Yuki TAKAGI

0.47.1 (2025-08-14)

0.47.0 (2025-08-11)

fix(road_user_stop): remove generate_parameter_library's default_value parameters (#11117)
- delete generate_parameter_library's_default_value parameter
* rerun ci ---------
feat(road_user_stop): add road_user_stop module (#11041)
- initial commit of road_user_stop module
- add stop condition for wrong user and masked adjacent lanelet
- update detection and stop planning method
- change stop plan algorithm
- use generate_parameter_library
- chattering prevention and on/off parameterize of intersection and crosswalk
- change detection method of intersection, and tidy up
- enable gtest
- fix default parameter to match obstacle_stop
- code tidy up
- update readme
- fix based on PR review
- remove dead code

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_auto
	autoware_cmake
	generate_parameter_library
	ament_cmake_ros
	ament_lint_auto
	autoware_lint_common
	autoware_lanelet2_extension
	autoware_motion_utils
	autoware_motion_velocity_planner_common
	autoware_perception_msgs
	autoware_planning_msgs
	autoware_route_handler
	autoware_universe_utils
	autoware_utils_geometry
	autoware_vehicle_info_utils
	geometry_msgs
	pluginlib
	rclcpp
	tf2
	tf2_geometry_msgs
	visualization_msgs

System Dependencies

Name
libboost-dev

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_motion_velocity_road_user_stop_module` at Robotics Stack Exchange

API Docs Browse Code

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

autoware_motion_velocity_road_user_stop_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

road_user_stop module to stop ego vehicle when road users (pedestrians, cyclists) are on the road

Maintainers

Takumi Odashima
Yuki Takagi
Satoshi Ota

Authors

No additional authors.

planning/motion_velocity_planner/autoware_motion_velocity_road_user_stop_module/README.md

Road User Stop

Role

The road_user_stop module stops the ego vehicle when pedestrians, cyclists, or other road users are detected on or near the road within the ego’s planned trajectory. This module ensures safe interaction with vulnerable road users by maintaining appropriate stopping distances and making decisions about when to stop versus when to continue driving.

Activation

This module is activated if the launch parameter launch_road_user_stop_module is set to true.

Parameters

Option Parameters

Name	Unit	Type	Description	Default value
suppress_sudden_stop	[-]	bool	Enable to suppress sudden stop	true

Stop Planning Parameters

Longitudinal Margin Parameters

Name	Unit	Type	Description	Default value
default_margin	[m]	double	Default longitudinal margin to obstacle	5.0
terminal_margin	[m]	double	Stop margin at the goal position	3.0
minimum_margin	[m]	double	Minimum stop margin for behavior decision	3.0

Opposing Traffic Parameters

Name	Unit	Type	Description	Default value
stop_margin	[m]	double	Ideal stop-margin from moving opposing obstacle when ego stops	10.0
max_negative_velocity	[m/s]	double	Maximum velocity of opposing traffic to consider stop planning	-0.1
min_velocity_for_stop_planning	[m/s]	double	Minimum velocity of ego to consider stop planning	2.77
effective_deceleration	[m/s^2]	double	Higher value brings final stop-margin closer to ideal value	4.0

General Stop Planning Parameters

Name	Unit	Type	Description	Default value
hold_stop_velocity_threshold	[m/s]	double	The maximum ego velocity to hold stopping	0.01
hold_stop_distance_threshold	[m]	double	The ego keeps stopping if distance to stop changes within threshold	0.3
limit_min_acc	[m/s^2]	double	Overwrite the deceleration limit (usually from common_param.yaml)	-2.5
sudden_object_acc_threshold	[m/s^2]	double	If stop achievable by smaller deceleration, not “sudden stop”	-1.0
sudden_object_dist_threshold	[m]	double	If stop distance is longer than this, not considered “sudden stop”	1000.0
abandon_to_stop	[-]	bool	Give up stopping when cannot avoid run over within decel limit	false

Stop on Curve Parameters

Name	Unit	Type	Description	Default value
enable_approaching	[-]	bool	Enable approaching behavior on curved paths	false
additional_stop_margin	[m]	double	Additional stop margin for obstacles on curves	3.0
min_stop_margin	[m]	double	Minimum stop margin on curves	6.0

Obstacle Filtering Parameters

Object Type Parameters

Name	Unit	Type	Description	Default value
pedestrian	[-]	bool	Enable detection of pedestrians	true
bicycle	[-]	bool	Enable detection of bicycles	true
motorcycle	[-]	bool	Enable detection of motorcycles	false
unknown	[-]	bool	Enable detection of unknown objects	false

General Filtering Parameters

Name	Unit	Type	Description	Default value
trajectory_lateral_margin	[m]	double	Lateral margin from ego trajectory to detect objects	1.0

Intersection Parameters

Name	Unit	Type	Description	Default value
exclude	[-]	bool	If true, exclude objects inside intersection lanelets from detection	false

Crosswalk Parameters

Name	Unit	Type	Description	Default value
exclude	[-]	bool	Exclude objects near crosswalks	true
margin	[m]	double	Margin distance from crosswalk	1.0

Opposing Traffic Detection Parameters

Name	Unit	Type	Description	Default value
enable	[-]	bool	Enable wrong-way object detection	true
angle_threshold	[deg]	double	Angle threshold for wrong-way detection	150.0
min_speed_threshold	[m/s]	double	Minimum speed for wrong-way detection	0.5

Temporal Filtering Parameters

Name	Unit	Type	Description	Default value
min_detection_duration	[s]	double	Minimum duration for object detection	0.1
lost_object_retention_duration	[s]	double	Duration to keep tracking objects after they are lost or exit the detection area	2.0

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package autoware_motion_velocity_road_user_stop_module

0.50.0 (2026-02-14)

Merge remote-tracking branch 'origin/main' into humble
perf(road_user_stop): reduce the number of published debug markers (#11865)
feat(motion_velocity_planner): publish debug trajectory for each module (#11781)
Contributors: Maxime CLEMENT, Ryohsuke Mitsudome

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)
fix(road_user_stop): fix topic name string (#11678)
feat(motion_velocity_planner): refactor time publisher (#11646)
- delete bdp time publish
- delete dynamic_obstacle_stop time publish
- delete obstacle_cruise time publish
- delete obstacle_slow_down time publish
- delete obstacle_velocity_limiter time publish
- delete out of lane time publish
- delete run out time publish
* add short module name function ---------
Contributors: Mete Fatih Cırıt, Ryohsuke Mitsudome, Yuki TAKAGI

0.48.0 (2025-11-18)

Merge remote-tracking branch 'origin/main' into humble
fix(road_user_stop): delete path_length_buffer (#11653)
fix: tf2 uses hpp headers in rolling (and is backported) (#11620)
docs(road_user_stop): add parameter docs (#11539) add parameters docs
feat(road_user_stop): exclude ego vehicle's sides from detection area (#11496)
- exclude ego side polygon
- fix typo
* delete polygon_utils copy function ---------
feat(road_user_stop): pass for stop vru (#11491)
- pass for stop vru
* fix cppcheck ---------
Contributors: Kotakku, Ryohsuke Mitsudome, Tim Clephas, Yuki TAKAGI

0.47.1 (2025-08-14)

0.47.0 (2025-08-11)

fix(road_user_stop): remove generate_parameter_library's default_value parameters (#11117)
- delete generate_parameter_library's_default_value parameter
* rerun ci ---------
feat(road_user_stop): add road_user_stop module (#11041)
- initial commit of road_user_stop module
- add stop condition for wrong user and masked adjacent lanelet
- update detection and stop planning method
- change stop plan algorithm
- use generate_parameter_library
- chattering prevention and on/off parameterize of intersection and crosswalk
- change detection method of intersection, and tidy up
- enable gtest
- fix default parameter to match obstacle_stop
- code tidy up
- update readme
- fix based on PR review
- remove dead code

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_auto
	autoware_cmake
	generate_parameter_library
	ament_cmake_ros
	ament_lint_auto
	autoware_lint_common
	autoware_lanelet2_extension
	autoware_motion_utils
	autoware_motion_velocity_planner_common
	autoware_perception_msgs
	autoware_planning_msgs
	autoware_route_handler
	autoware_universe_utils
	autoware_utils_geometry
	autoware_vehicle_info_utils
	geometry_msgs
	pluginlib
	rclcpp
	tf2
	tf2_geometry_msgs
	visualization_msgs

System Dependencies

Name
libboost-dev

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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autoware_motion_velocity_road_user_stop_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

road_user_stop module to stop ego vehicle when road users (pedestrians, cyclists) are on the road

Maintainers

Takumi Odashima
Yuki Takagi
Satoshi Ota

Authors

No additional authors.

planning/motion_velocity_planner/autoware_motion_velocity_road_user_stop_module/README.md

Road User Stop

Role

The road_user_stop module stops the ego vehicle when pedestrians, cyclists, or other road users are detected on or near the road within the ego’s planned trajectory. This module ensures safe interaction with vulnerable road users by maintaining appropriate stopping distances and making decisions about when to stop versus when to continue driving.

Activation

This module is activated if the launch parameter launch_road_user_stop_module is set to true.

Parameters

Option Parameters

Name	Unit	Type	Description	Default value
suppress_sudden_stop	[-]	bool	Enable to suppress sudden stop	true

Stop Planning Parameters

Longitudinal Margin Parameters

Name	Unit	Type	Description	Default value
default_margin	[m]	double	Default longitudinal margin to obstacle	5.0
terminal_margin	[m]	double	Stop margin at the goal position	3.0
minimum_margin	[m]	double	Minimum stop margin for behavior decision	3.0

Opposing Traffic Parameters

Name	Unit	Type	Description	Default value
stop_margin	[m]	double	Ideal stop-margin from moving opposing obstacle when ego stops	10.0
max_negative_velocity	[m/s]	double	Maximum velocity of opposing traffic to consider stop planning	-0.1
min_velocity_for_stop_planning	[m/s]	double	Minimum velocity of ego to consider stop planning	2.77
effective_deceleration	[m/s^2]	double	Higher value brings final stop-margin closer to ideal value	4.0

General Stop Planning Parameters

Name	Unit	Type	Description	Default value
hold_stop_velocity_threshold	[m/s]	double	The maximum ego velocity to hold stopping	0.01
hold_stop_distance_threshold	[m]	double	The ego keeps stopping if distance to stop changes within threshold	0.3
limit_min_acc	[m/s^2]	double	Overwrite the deceleration limit (usually from common_param.yaml)	-2.5
sudden_object_acc_threshold	[m/s^2]	double	If stop achievable by smaller deceleration, not “sudden stop”	-1.0
sudden_object_dist_threshold	[m]	double	If stop distance is longer than this, not considered “sudden stop”	1000.0
abandon_to_stop	[-]	bool	Give up stopping when cannot avoid run over within decel limit	false

Stop on Curve Parameters

Name	Unit	Type	Description	Default value
enable_approaching	[-]	bool	Enable approaching behavior on curved paths	false
additional_stop_margin	[m]	double	Additional stop margin for obstacles on curves	3.0
min_stop_margin	[m]	double	Minimum stop margin on curves	6.0

Obstacle Filtering Parameters

Object Type Parameters

Name	Unit	Type	Description	Default value
pedestrian	[-]	bool	Enable detection of pedestrians	true
bicycle	[-]	bool	Enable detection of bicycles	true
motorcycle	[-]	bool	Enable detection of motorcycles	false
unknown	[-]	bool	Enable detection of unknown objects	false

General Filtering Parameters

Name	Unit	Type	Description	Default value
trajectory_lateral_margin	[m]	double	Lateral margin from ego trajectory to detect objects	1.0

Intersection Parameters

Name	Unit	Type	Description	Default value
exclude	[-]	bool	If true, exclude objects inside intersection lanelets from detection	false

Crosswalk Parameters

Name	Unit	Type	Description	Default value
exclude	[-]	bool	Exclude objects near crosswalks	true
margin	[m]	double	Margin distance from crosswalk	1.0

Opposing Traffic Detection Parameters

Name	Unit	Type	Description	Default value
enable	[-]	bool	Enable wrong-way object detection	true
angle_threshold	[deg]	double	Angle threshold for wrong-way detection	150.0
min_speed_threshold	[m/s]	double	Minimum speed for wrong-way detection	0.5

Temporal Filtering Parameters

Name	Unit	Type	Description	Default value
min_detection_duration	[s]	double	Minimum duration for object detection	0.1
lost_object_retention_duration	[s]	double	Duration to keep tracking objects after they are lost or exit the detection area	2.0

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package autoware_motion_velocity_road_user_stop_module

0.50.0 (2026-02-14)

Merge remote-tracking branch 'origin/main' into humble
perf(road_user_stop): reduce the number of published debug markers (#11865)
feat(motion_velocity_planner): publish debug trajectory for each module (#11781)
Contributors: Maxime CLEMENT, Ryohsuke Mitsudome

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)
fix(road_user_stop): fix topic name string (#11678)
feat(motion_velocity_planner): refactor time publisher (#11646)
- delete bdp time publish
- delete dynamic_obstacle_stop time publish
- delete obstacle_cruise time publish
- delete obstacle_slow_down time publish
- delete obstacle_velocity_limiter time publish
- delete out of lane time publish
- delete run out time publish
* add short module name function ---------
Contributors: Mete Fatih Cırıt, Ryohsuke Mitsudome, Yuki TAKAGI

0.48.0 (2025-11-18)

Merge remote-tracking branch 'origin/main' into humble
fix(road_user_stop): delete path_length_buffer (#11653)
fix: tf2 uses hpp headers in rolling (and is backported) (#11620)
docs(road_user_stop): add parameter docs (#11539) add parameters docs
feat(road_user_stop): exclude ego vehicle's sides from detection area (#11496)
- exclude ego side polygon
- fix typo
* delete polygon_utils copy function ---------
feat(road_user_stop): pass for stop vru (#11491)
- pass for stop vru
* fix cppcheck ---------
Contributors: Kotakku, Ryohsuke Mitsudome, Tim Clephas, Yuki TAKAGI

0.47.1 (2025-08-14)

0.47.0 (2025-08-11)

fix(road_user_stop): remove generate_parameter_library's default_value parameters (#11117)
- delete generate_parameter_library's_default_value parameter
* rerun ci ---------
feat(road_user_stop): add road_user_stop module (#11041)
- initial commit of road_user_stop module
- add stop condition for wrong user and masked adjacent lanelet
- update detection and stop planning method
- change stop plan algorithm
- use generate_parameter_library
- chattering prevention and on/off parameterize of intersection and crosswalk
- change detection method of intersection, and tidy up
- enable gtest
- fix default parameter to match obstacle_stop
- code tidy up
- update readme
- fix based on PR review
- remove dead code

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_auto
	autoware_cmake
	generate_parameter_library
	ament_cmake_ros
	ament_lint_auto
	autoware_lint_common
	autoware_lanelet2_extension
	autoware_motion_utils
	autoware_motion_velocity_planner_common
	autoware_perception_msgs
	autoware_planning_msgs
	autoware_route_handler
	autoware_universe_utils
	autoware_utils_geometry
	autoware_vehicle_info_utils
	geometry_msgs
	pluginlib
	rclcpp
	tf2
	tf2_geometry_msgs
	visualization_msgs

System Dependencies

Name
libboost-dev

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_motion_velocity_road_user_stop_module` at Robotics Stack Exchange

API Docs Browse Code

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autoware_motion_velocity_road_user_stop_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

road_user_stop module to stop ego vehicle when road users (pedestrians, cyclists) are on the road

Maintainers

Takumi Odashima
Yuki Takagi
Satoshi Ota

Authors

No additional authors.

planning/motion_velocity_planner/autoware_motion_velocity_road_user_stop_module/README.md

Road User Stop

Role

The road_user_stop module stops the ego vehicle when pedestrians, cyclists, or other road users are detected on or near the road within the ego’s planned trajectory. This module ensures safe interaction with vulnerable road users by maintaining appropriate stopping distances and making decisions about when to stop versus when to continue driving.

Activation

This module is activated if the launch parameter launch_road_user_stop_module is set to true.

Parameters

Option Parameters

Name	Unit	Type	Description	Default value
suppress_sudden_stop	[-]	bool	Enable to suppress sudden stop	true

Stop Planning Parameters

Longitudinal Margin Parameters

Name	Unit	Type	Description	Default value
default_margin	[m]	double	Default longitudinal margin to obstacle	5.0
terminal_margin	[m]	double	Stop margin at the goal position	3.0
minimum_margin	[m]	double	Minimum stop margin for behavior decision	3.0

Opposing Traffic Parameters

Name	Unit	Type	Description	Default value
stop_margin	[m]	double	Ideal stop-margin from moving opposing obstacle when ego stops	10.0
max_negative_velocity	[m/s]	double	Maximum velocity of opposing traffic to consider stop planning	-0.1
min_velocity_for_stop_planning	[m/s]	double	Minimum velocity of ego to consider stop planning	2.77
effective_deceleration	[m/s^2]	double	Higher value brings final stop-margin closer to ideal value	4.0

General Stop Planning Parameters

Name	Unit	Type	Description	Default value
hold_stop_velocity_threshold	[m/s]	double	The maximum ego velocity to hold stopping	0.01
hold_stop_distance_threshold	[m]	double	The ego keeps stopping if distance to stop changes within threshold	0.3
limit_min_acc	[m/s^2]	double	Overwrite the deceleration limit (usually from common_param.yaml)	-2.5
sudden_object_acc_threshold	[m/s^2]	double	If stop achievable by smaller deceleration, not “sudden stop”	-1.0
sudden_object_dist_threshold	[m]	double	If stop distance is longer than this, not considered “sudden stop”	1000.0
abandon_to_stop	[-]	bool	Give up stopping when cannot avoid run over within decel limit	false

Stop on Curve Parameters

Name	Unit	Type	Description	Default value
enable_approaching	[-]	bool	Enable approaching behavior on curved paths	false
additional_stop_margin	[m]	double	Additional stop margin for obstacles on curves	3.0
min_stop_margin	[m]	double	Minimum stop margin on curves	6.0

Obstacle Filtering Parameters

Object Type Parameters

Name	Unit	Type	Description	Default value
pedestrian	[-]	bool	Enable detection of pedestrians	true
bicycle	[-]	bool	Enable detection of bicycles	true
motorcycle	[-]	bool	Enable detection of motorcycles	false
unknown	[-]	bool	Enable detection of unknown objects	false

General Filtering Parameters

Name	Unit	Type	Description	Default value
trajectory_lateral_margin	[m]	double	Lateral margin from ego trajectory to detect objects	1.0

Intersection Parameters

Name	Unit	Type	Description	Default value
exclude	[-]	bool	If true, exclude objects inside intersection lanelets from detection	false

Crosswalk Parameters

Name	Unit	Type	Description	Default value
exclude	[-]	bool	Exclude objects near crosswalks	true
margin	[m]	double	Margin distance from crosswalk	1.0

Opposing Traffic Detection Parameters

Name	Unit	Type	Description	Default value
enable	[-]	bool	Enable wrong-way object detection	true
angle_threshold	[deg]	double	Angle threshold for wrong-way detection	150.0
min_speed_threshold	[m/s]	double	Minimum speed for wrong-way detection	0.5

Temporal Filtering Parameters

Name	Unit	Type	Description	Default value
min_detection_duration	[s]	double	Minimum duration for object detection	0.1
lost_object_retention_duration	[s]	double	Duration to keep tracking objects after they are lost or exit the detection area	2.0

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package autoware_motion_velocity_road_user_stop_module

0.50.0 (2026-02-14)

Merge remote-tracking branch 'origin/main' into humble
perf(road_user_stop): reduce the number of published debug markers (#11865)
feat(motion_velocity_planner): publish debug trajectory for each module (#11781)
Contributors: Maxime CLEMENT, Ryohsuke Mitsudome

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)
fix(road_user_stop): fix topic name string (#11678)
feat(motion_velocity_planner): refactor time publisher (#11646)
- delete bdp time publish
- delete dynamic_obstacle_stop time publish
- delete obstacle_cruise time publish
- delete obstacle_slow_down time publish
- delete obstacle_velocity_limiter time publish
- delete out of lane time publish
- delete run out time publish
* add short module name function ---------
Contributors: Mete Fatih Cırıt, Ryohsuke Mitsudome, Yuki TAKAGI

0.48.0 (2025-11-18)

Merge remote-tracking branch 'origin/main' into humble
fix(road_user_stop): delete path_length_buffer (#11653)
fix: tf2 uses hpp headers in rolling (and is backported) (#11620)
docs(road_user_stop): add parameter docs (#11539) add parameters docs
feat(road_user_stop): exclude ego vehicle's sides from detection area (#11496)
- exclude ego side polygon
- fix typo
* delete polygon_utils copy function ---------
feat(road_user_stop): pass for stop vru (#11491)
- pass for stop vru
* fix cppcheck ---------
Contributors: Kotakku, Ryohsuke Mitsudome, Tim Clephas, Yuki TAKAGI

0.47.1 (2025-08-14)

0.47.0 (2025-08-11)

fix(road_user_stop): remove generate_parameter_library's default_value parameters (#11117)
- delete generate_parameter_library's_default_value parameter
* rerun ci ---------
feat(road_user_stop): add road_user_stop module (#11041)
- initial commit of road_user_stop module
- add stop condition for wrong user and masked adjacent lanelet
- update detection and stop planning method
- change stop plan algorithm
- use generate_parameter_library
- chattering prevention and on/off parameterize of intersection and crosswalk
- change detection method of intersection, and tidy up
- enable gtest
- fix default parameter to match obstacle_stop
- code tidy up
- update readme
- fix based on PR review
- remove dead code

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_auto
	autoware_cmake
	generate_parameter_library
	ament_cmake_ros
	ament_lint_auto
	autoware_lint_common
	autoware_lanelet2_extension
	autoware_motion_utils
	autoware_motion_velocity_planner_common
	autoware_perception_msgs
	autoware_planning_msgs
	autoware_route_handler
	autoware_universe_utils
	autoware_utils_geometry
	autoware_vehicle_info_utils
	geometry_msgs
	pluginlib
	rclcpp
	tf2
	tf2_geometry_msgs
	visualization_msgs

System Dependencies

Name
libboost-dev

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_motion_velocity_road_user_stop_module` at Robotics Stack Exchange

API Docs Browse Code

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

autoware_motion_velocity_road_user_stop_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

road_user_stop module to stop ego vehicle when road users (pedestrians, cyclists) are on the road

Maintainers

Takumi Odashima
Yuki Takagi
Satoshi Ota

Authors

No additional authors.

planning/motion_velocity_planner/autoware_motion_velocity_road_user_stop_module/README.md

Road User Stop

Role

The road_user_stop module stops the ego vehicle when pedestrians, cyclists, or other road users are detected on or near the road within the ego’s planned trajectory. This module ensures safe interaction with vulnerable road users by maintaining appropriate stopping distances and making decisions about when to stop versus when to continue driving.

Activation

This module is activated if the launch parameter launch_road_user_stop_module is set to true.

Parameters

Option Parameters

Name	Unit	Type	Description	Default value
suppress_sudden_stop	[-]	bool	Enable to suppress sudden stop	true

Stop Planning Parameters

Longitudinal Margin Parameters

Name	Unit	Type	Description	Default value
default_margin	[m]	double	Default longitudinal margin to obstacle	5.0
terminal_margin	[m]	double	Stop margin at the goal position	3.0
minimum_margin	[m]	double	Minimum stop margin for behavior decision	3.0

Opposing Traffic Parameters

Name	Unit	Type	Description	Default value
stop_margin	[m]	double	Ideal stop-margin from moving opposing obstacle when ego stops	10.0
max_negative_velocity	[m/s]	double	Maximum velocity of opposing traffic to consider stop planning	-0.1
min_velocity_for_stop_planning	[m/s]	double	Minimum velocity of ego to consider stop planning	2.77
effective_deceleration	[m/s^2]	double	Higher value brings final stop-margin closer to ideal value	4.0

General Stop Planning Parameters

Name	Unit	Type	Description	Default value
hold_stop_velocity_threshold	[m/s]	double	The maximum ego velocity to hold stopping	0.01
hold_stop_distance_threshold	[m]	double	The ego keeps stopping if distance to stop changes within threshold	0.3
limit_min_acc	[m/s^2]	double	Overwrite the deceleration limit (usually from common_param.yaml)	-2.5
sudden_object_acc_threshold	[m/s^2]	double	If stop achievable by smaller deceleration, not “sudden stop”	-1.0
sudden_object_dist_threshold	[m]	double	If stop distance is longer than this, not considered “sudden stop”	1000.0
abandon_to_stop	[-]	bool	Give up stopping when cannot avoid run over within decel limit	false

Stop on Curve Parameters

Name	Unit	Type	Description	Default value
enable_approaching	[-]	bool	Enable approaching behavior on curved paths	false
additional_stop_margin	[m]	double	Additional stop margin for obstacles on curves	3.0
min_stop_margin	[m]	double	Minimum stop margin on curves	6.0

Obstacle Filtering Parameters

Object Type Parameters

Name	Unit	Type	Description	Default value
pedestrian	[-]	bool	Enable detection of pedestrians	true
bicycle	[-]	bool	Enable detection of bicycles	true
motorcycle	[-]	bool	Enable detection of motorcycles	false
unknown	[-]	bool	Enable detection of unknown objects	false

General Filtering Parameters

Name	Unit	Type	Description	Default value
trajectory_lateral_margin	[m]	double	Lateral margin from ego trajectory to detect objects	1.0

Intersection Parameters

Name	Unit	Type	Description	Default value
exclude	[-]	bool	If true, exclude objects inside intersection lanelets from detection	false

Crosswalk Parameters

Name	Unit	Type	Description	Default value
exclude	[-]	bool	Exclude objects near crosswalks	true
margin	[m]	double	Margin distance from crosswalk	1.0

Opposing Traffic Detection Parameters

Name	Unit	Type	Description	Default value
enable	[-]	bool	Enable wrong-way object detection	true
angle_threshold	[deg]	double	Angle threshold for wrong-way detection	150.0
min_speed_threshold	[m/s]	double	Minimum speed for wrong-way detection	0.5

Temporal Filtering Parameters

Name	Unit	Type	Description	Default value
min_detection_duration	[s]	double	Minimum duration for object detection	0.1
lost_object_retention_duration	[s]	double	Duration to keep tracking objects after they are lost or exit the detection area	2.0

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package autoware_motion_velocity_road_user_stop_module

0.50.0 (2026-02-14)

Merge remote-tracking branch 'origin/main' into humble
perf(road_user_stop): reduce the number of published debug markers (#11865)
feat(motion_velocity_planner): publish debug trajectory for each module (#11781)
Contributors: Maxime CLEMENT, Ryohsuke Mitsudome

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)
fix(road_user_stop): fix topic name string (#11678)
feat(motion_velocity_planner): refactor time publisher (#11646)
- delete bdp time publish
- delete dynamic_obstacle_stop time publish
- delete obstacle_cruise time publish
- delete obstacle_slow_down time publish
- delete obstacle_velocity_limiter time publish
- delete out of lane time publish
- delete run out time publish
* add short module name function ---------
Contributors: Mete Fatih Cırıt, Ryohsuke Mitsudome, Yuki TAKAGI

0.48.0 (2025-11-18)

Merge remote-tracking branch 'origin/main' into humble
fix(road_user_stop): delete path_length_buffer (#11653)
fix: tf2 uses hpp headers in rolling (and is backported) (#11620)
docs(road_user_stop): add parameter docs (#11539) add parameters docs
feat(road_user_stop): exclude ego vehicle's sides from detection area (#11496)
- exclude ego side polygon
- fix typo
* delete polygon_utils copy function ---------
feat(road_user_stop): pass for stop vru (#11491)
- pass for stop vru
* fix cppcheck ---------
Contributors: Kotakku, Ryohsuke Mitsudome, Tim Clephas, Yuki TAKAGI

0.47.1 (2025-08-14)

0.47.0 (2025-08-11)

fix(road_user_stop): remove generate_parameter_library's default_value parameters (#11117)
- delete generate_parameter_library's_default_value parameter
* rerun ci ---------
feat(road_user_stop): add road_user_stop module (#11041)
- initial commit of road_user_stop module
- add stop condition for wrong user and masked adjacent lanelet
- update detection and stop planning method
- change stop plan algorithm
- use generate_parameter_library
- chattering prevention and on/off parameterize of intersection and crosswalk
- change detection method of intersection, and tidy up
- enable gtest
- fix default parameter to match obstacle_stop
- code tidy up
- update readme
- fix based on PR review
- remove dead code

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_auto
	autoware_cmake
	generate_parameter_library
	ament_cmake_ros
	ament_lint_auto
	autoware_lint_common
	autoware_lanelet2_extension
	autoware_motion_utils
	autoware_motion_velocity_planner_common
	autoware_perception_msgs
	autoware_planning_msgs
	autoware_route_handler
	autoware_universe_utils
	autoware_utils_geometry
	autoware_vehicle_info_utils
	geometry_msgs
	pluginlib
	rclcpp
	tf2
	tf2_geometry_msgs
	visualization_msgs

System Dependencies

Name
libboost-dev

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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autoware_motion_velocity_road_user_stop_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
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

road_user_stop module to stop ego vehicle when road users (pedestrians, cyclists) are on the road

Maintainers

Takumi Odashima
Yuki Takagi
Satoshi Ota

Authors

No additional authors.

planning/motion_velocity_planner/autoware_motion_velocity_road_user_stop_module/README.md

Road User Stop

Role

The road_user_stop module stops the ego vehicle when pedestrians, cyclists, or other road users are detected on or near the road within the ego’s planned trajectory. This module ensures safe interaction with vulnerable road users by maintaining appropriate stopping distances and making decisions about when to stop versus when to continue driving.

Activation

This module is activated if the launch parameter launch_road_user_stop_module is set to true.

Parameters

Option Parameters

Name	Unit	Type	Description	Default value
suppress_sudden_stop	[-]	bool	Enable to suppress sudden stop	true

Stop Planning Parameters

Longitudinal Margin Parameters

Name	Unit	Type	Description	Default value
default_margin	[m]	double	Default longitudinal margin to obstacle	5.0
terminal_margin	[m]	double	Stop margin at the goal position	3.0
minimum_margin	[m]	double	Minimum stop margin for behavior decision	3.0

Opposing Traffic Parameters

Name	Unit	Type	Description	Default value
stop_margin	[m]	double	Ideal stop-margin from moving opposing obstacle when ego stops	10.0
max_negative_velocity	[m/s]	double	Maximum velocity of opposing traffic to consider stop planning	-0.1
min_velocity_for_stop_planning	[m/s]	double	Minimum velocity of ego to consider stop planning	2.77
effective_deceleration	[m/s^2]	double	Higher value brings final stop-margin closer to ideal value	4.0

General Stop Planning Parameters

Name	Unit	Type	Description	Default value
hold_stop_velocity_threshold	[m/s]	double	The maximum ego velocity to hold stopping	0.01
hold_stop_distance_threshold	[m]	double	The ego keeps stopping if distance to stop changes within threshold	0.3
limit_min_acc	[m/s^2]	double	Overwrite the deceleration limit (usually from common_param.yaml)	-2.5
sudden_object_acc_threshold	[m/s^2]	double	If stop achievable by smaller deceleration, not “sudden stop”	-1.0
sudden_object_dist_threshold	[m]	double	If stop distance is longer than this, not considered “sudden stop”	1000.0
abandon_to_stop	[-]	bool	Give up stopping when cannot avoid run over within decel limit	false

Stop on Curve Parameters

Name	Unit	Type	Description	Default value
enable_approaching	[-]	bool	Enable approaching behavior on curved paths	false
additional_stop_margin	[m]	double	Additional stop margin for obstacles on curves	3.0
min_stop_margin	[m]	double	Minimum stop margin on curves	6.0

Obstacle Filtering Parameters

Object Type Parameters

Name	Unit	Type	Description	Default value
pedestrian	[-]	bool	Enable detection of pedestrians	true
bicycle	[-]	bool	Enable detection of bicycles	true
motorcycle	[-]	bool	Enable detection of motorcycles	false
unknown	[-]	bool	Enable detection of unknown objects	false

General Filtering Parameters

Name	Unit	Type	Description	Default value
trajectory_lateral_margin	[m]	double	Lateral margin from ego trajectory to detect objects	1.0

Intersection Parameters

Name	Unit	Type	Description	Default value
exclude	[-]	bool	If true, exclude objects inside intersection lanelets from detection	false

Crosswalk Parameters

Name	Unit	Type	Description	Default value
exclude	[-]	bool	Exclude objects near crosswalks	true
margin	[m]	double	Margin distance from crosswalk	1.0

Opposing Traffic Detection Parameters

Name	Unit	Type	Description	Default value
enable	[-]	bool	Enable wrong-way object detection	true
angle_threshold	[deg]	double	Angle threshold for wrong-way detection	150.0
min_speed_threshold	[m/s]	double	Minimum speed for wrong-way detection	0.5

Temporal Filtering Parameters

Name	Unit	Type	Description	Default value
min_detection_duration	[s]	double	Minimum duration for object detection	0.1
lost_object_retention_duration	[s]	double	Duration to keep tracking objects after they are lost or exit the detection area	2.0

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package autoware_motion_velocity_road_user_stop_module

0.50.0 (2026-02-14)

Merge remote-tracking branch 'origin/main' into humble
perf(road_user_stop): reduce the number of published debug markers (#11865)
feat(motion_velocity_planner): publish debug trajectory for each module (#11781)
Contributors: Maxime CLEMENT, Ryohsuke Mitsudome

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)
fix(road_user_stop): fix topic name string (#11678)
feat(motion_velocity_planner): refactor time publisher (#11646)
- delete bdp time publish
- delete dynamic_obstacle_stop time publish
- delete obstacle_cruise time publish
- delete obstacle_slow_down time publish
- delete obstacle_velocity_limiter time publish
- delete out of lane time publish
- delete run out time publish
* add short module name function ---------
Contributors: Mete Fatih Cırıt, Ryohsuke Mitsudome, Yuki TAKAGI

0.48.0 (2025-11-18)

Merge remote-tracking branch 'origin/main' into humble
fix(road_user_stop): delete path_length_buffer (#11653)
fix: tf2 uses hpp headers in rolling (and is backported) (#11620)
docs(road_user_stop): add parameter docs (#11539) add parameters docs
feat(road_user_stop): exclude ego vehicle's sides from detection area (#11496)
- exclude ego side polygon
- fix typo
* delete polygon_utils copy function ---------
feat(road_user_stop): pass for stop vru (#11491)
- pass for stop vru
* fix cppcheck ---------
Contributors: Kotakku, Ryohsuke Mitsudome, Tim Clephas, Yuki TAKAGI

0.47.1 (2025-08-14)

0.47.0 (2025-08-11)

fix(road_user_stop): remove generate_parameter_library's default_value parameters (#11117)
- delete generate_parameter_library's_default_value parameter
* rerun ci ---------
feat(road_user_stop): add road_user_stop module (#11041)
- initial commit of road_user_stop module
- add stop condition for wrong user and masked adjacent lanelet
- update detection and stop planning method
- change stop plan algorithm
- use generate_parameter_library
- chattering prevention and on/off parameterize of intersection and crosswalk
- change detection method of intersection, and tidy up
- enable gtest
- fix default parameter to match obstacle_stop
- code tidy up
- update readme
- fix based on PR review
- remove dead code

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_auto
	autoware_cmake
	generate_parameter_library
	ament_cmake_ros
	ament_lint_auto
	autoware_lint_common
	autoware_lanelet2_extension
	autoware_motion_utils
	autoware_motion_velocity_planner_common
	autoware_perception_msgs
	autoware_planning_msgs
	autoware_route_handler
	autoware_universe_utils
	autoware_utils_geometry
	autoware_vehicle_info_utils
	geometry_msgs
	pluginlib
	rclcpp
	tf2
	tf2_geometry_msgs
	visualization_msgs

System Dependencies

Name
libboost-dev

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_motion_velocity_road_user_stop_module` at Robotics Stack Exchange

API Docs Browse Code Wiki

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autoware_motion_velocity_road_user_stop_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
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

road_user_stop module to stop ego vehicle when road users (pedestrians, cyclists) are on the road

Maintainers

Takumi Odashima
Yuki Takagi
Satoshi Ota

Authors

No additional authors.

planning/motion_velocity_planner/autoware_motion_velocity_road_user_stop_module/README.md

Road User Stop

Role

The road_user_stop module stops the ego vehicle when pedestrians, cyclists, or other road users are detected on or near the road within the ego’s planned trajectory. This module ensures safe interaction with vulnerable road users by maintaining appropriate stopping distances and making decisions about when to stop versus when to continue driving.

Activation

This module is activated if the launch parameter launch_road_user_stop_module is set to true.

Parameters

Option Parameters

Name	Unit	Type	Description	Default value
suppress_sudden_stop	[-]	bool	Enable to suppress sudden stop	true

Stop Planning Parameters

Longitudinal Margin Parameters

Name	Unit	Type	Description	Default value
default_margin	[m]	double	Default longitudinal margin to obstacle	5.0
terminal_margin	[m]	double	Stop margin at the goal position	3.0
minimum_margin	[m]	double	Minimum stop margin for behavior decision	3.0

Opposing Traffic Parameters

Name	Unit	Type	Description	Default value
stop_margin	[m]	double	Ideal stop-margin from moving opposing obstacle when ego stops	10.0
max_negative_velocity	[m/s]	double	Maximum velocity of opposing traffic to consider stop planning	-0.1
min_velocity_for_stop_planning	[m/s]	double	Minimum velocity of ego to consider stop planning	2.77
effective_deceleration	[m/s^2]	double	Higher value brings final stop-margin closer to ideal value	4.0

General Stop Planning Parameters

Name	Unit	Type	Description	Default value
hold_stop_velocity_threshold	[m/s]	double	The maximum ego velocity to hold stopping	0.01
hold_stop_distance_threshold	[m]	double	The ego keeps stopping if distance to stop changes within threshold	0.3
limit_min_acc	[m/s^2]	double	Overwrite the deceleration limit (usually from common_param.yaml)	-2.5
sudden_object_acc_threshold	[m/s^2]	double	If stop achievable by smaller deceleration, not “sudden stop”	-1.0
sudden_object_dist_threshold	[m]	double	If stop distance is longer than this, not considered “sudden stop”	1000.0
abandon_to_stop	[-]	bool	Give up stopping when cannot avoid run over within decel limit	false

Stop on Curve Parameters

Name	Unit	Type	Description	Default value
enable_approaching	[-]	bool	Enable approaching behavior on curved paths	false
additional_stop_margin	[m]	double	Additional stop margin for obstacles on curves	3.0
min_stop_margin	[m]	double	Minimum stop margin on curves	6.0

Obstacle Filtering Parameters

Object Type Parameters

Name	Unit	Type	Description	Default value
pedestrian	[-]	bool	Enable detection of pedestrians	true
bicycle	[-]	bool	Enable detection of bicycles	true
motorcycle	[-]	bool	Enable detection of motorcycles	false
unknown	[-]	bool	Enable detection of unknown objects	false

General Filtering Parameters

Name	Unit	Type	Description	Default value
trajectory_lateral_margin	[m]	double	Lateral margin from ego trajectory to detect objects	1.0

Intersection Parameters

Name	Unit	Type	Description	Default value
exclude	[-]	bool	If true, exclude objects inside intersection lanelets from detection	false

Crosswalk Parameters

Name	Unit	Type	Description	Default value
exclude	[-]	bool	Exclude objects near crosswalks	true
margin	[m]	double	Margin distance from crosswalk	1.0

Opposing Traffic Detection Parameters

Name	Unit	Type	Description	Default value
enable	[-]	bool	Enable wrong-way object detection	true
angle_threshold	[deg]	double	Angle threshold for wrong-way detection	150.0
min_speed_threshold	[m/s]	double	Minimum speed for wrong-way detection	0.5

Temporal Filtering Parameters

Name	Unit	Type	Description	Default value
min_detection_duration	[s]	double	Minimum duration for object detection	0.1
lost_object_retention_duration	[s]	double	Duration to keep tracking objects after they are lost or exit the detection area	2.0

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package autoware_motion_velocity_road_user_stop_module

0.50.0 (2026-02-14)

Merge remote-tracking branch 'origin/main' into humble
perf(road_user_stop): reduce the number of published debug markers (#11865)
feat(motion_velocity_planner): publish debug trajectory for each module (#11781)
Contributors: Maxime CLEMENT, Ryohsuke Mitsudome

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)
fix(road_user_stop): fix topic name string (#11678)
feat(motion_velocity_planner): refactor time publisher (#11646)
- delete bdp time publish
- delete dynamic_obstacle_stop time publish
- delete obstacle_cruise time publish
- delete obstacle_slow_down time publish
- delete obstacle_velocity_limiter time publish
- delete out of lane time publish
- delete run out time publish
* add short module name function ---------
Contributors: Mete Fatih Cırıt, Ryohsuke Mitsudome, Yuki TAKAGI

0.48.0 (2025-11-18)

Merge remote-tracking branch 'origin/main' into humble
fix(road_user_stop): delete path_length_buffer (#11653)
fix: tf2 uses hpp headers in rolling (and is backported) (#11620)
docs(road_user_stop): add parameter docs (#11539) add parameters docs
feat(road_user_stop): exclude ego vehicle's sides from detection area (#11496)
- exclude ego side polygon
- fix typo
* delete polygon_utils copy function ---------
feat(road_user_stop): pass for stop vru (#11491)
- pass for stop vru
* fix cppcheck ---------
Contributors: Kotakku, Ryohsuke Mitsudome, Tim Clephas, Yuki TAKAGI

0.47.1 (2025-08-14)

0.47.0 (2025-08-11)

fix(road_user_stop): remove generate_parameter_library's default_value parameters (#11117)
- delete generate_parameter_library's_default_value parameter
* rerun ci ---------
feat(road_user_stop): add road_user_stop module (#11041)
- initial commit of road_user_stop module
- add stop condition for wrong user and masked adjacent lanelet
- update detection and stop planning method
- change stop plan algorithm
- use generate_parameter_library
- chattering prevention and on/off parameterize of intersection and crosswalk
- change detection method of intersection, and tidy up
- enable gtest
- fix default parameter to match obstacle_stop
- code tidy up
- update readme
- fix based on PR review
- remove dead code

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_auto
	autoware_cmake
	generate_parameter_library
	ament_cmake_ros
	ament_lint_auto
	autoware_lint_common
	autoware_lanelet2_extension
	autoware_motion_utils
	autoware_motion_velocity_planner_common
	autoware_perception_msgs
	autoware_planning_msgs
	autoware_route_handler
	autoware_universe_utils
	autoware_utils_geometry
	autoware_vehicle_info_utils
	geometry_msgs
	pluginlib
	rclcpp
	tf2
	tf2_geometry_msgs
	visualization_msgs

System Dependencies

Name
libboost-dev

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_motion_velocity_road_user_stop_module` at Robotics Stack Exchange

API Docs Browse Code Wiki

autoware_motion_velocity_road_user_stop_module package from autoware_universe repo

ROS Distrogithub

Package Summary

Repository Summary

Package Description

Maintainers

Authors

Road User Stop

Role

Activation

Parameters

Option Parameters

Stop Planning Parameters

Longitudinal Margin Parameters

Opposing Traffic Parameters

General Stop Planning Parameters

Stop on Curve Parameters

Obstacle Filtering Parameters

Object Type Parameters

General Filtering Parameters

Intersection Parameters

Crosswalk Parameters

Opposing Traffic Detection Parameters

Temporal Filtering Parameters

Changelog for package autoware_motion_velocity_road_user_stop_module

0.50.0 (2026-02-14)

0.49.0 (2025-12-30)

0.48.0 (2025-11-18)

0.47.1 (2025-08-14)

0.47.0 (2025-08-11)

Package Dependencies

System Dependencies

Dependant Packages

Launch files

Messages

Services

Plugins

Recent questions tagged autoware_motion_velocity_road_user_stop_module at Robotics Stack Exchange

autoware_motion_velocity_road_user_stop_module package from autoware_universe repo

ROS Distrogithub

Package Summary

Repository Summary

Package Description

Maintainers

Authors

Road User Stop

Role

Activation

Parameters

Option Parameters

Stop Planning Parameters

Longitudinal Margin Parameters

Opposing Traffic Parameters

General Stop Planning Parameters

Stop on Curve Parameters

Obstacle Filtering Parameters

Object Type Parameters

General Filtering Parameters

Intersection Parameters

Crosswalk Parameters

Opposing Traffic Detection Parameters

Temporal Filtering Parameters

Changelog for package autoware_motion_velocity_road_user_stop_module

0.50.0 (2026-02-14)

0.49.0 (2025-12-30)

0.48.0 (2025-11-18)

0.47.1 (2025-08-14)

0.47.0 (2025-08-11)

Package Dependencies

System Dependencies

Dependant Packages

Launch files

Messages

Services

Plugins

Recent questions tagged autoware_motion_velocity_road_user_stop_module at Robotics Stack Exchange

autoware_motion_velocity_road_user_stop_module package from autoware_universe repo

ROS Distrogithub

Package Summary

Repository Summary

ROS Distro
github

Recent questions tagged `autoware_motion_velocity_road_user_stop_module` at Robotics Stack Exchange

ROS Distro
github

Recent questions tagged `autoware_motion_velocity_road_user_stop_module` at Robotics Stack Exchange

ROS Distro
github

Recent questions tagged `autoware_motion_velocity_road_user_stop_module` at Robotics Stack Exchange

ROS Distro
github