Package Summary
Tags | No category tags. |
Version | 0.1.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Description | |
Checkout URI | https://github.com/ieiauto/autodrrt.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-05-30 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Satoshi Ota
- Tomoya Kimura
- Shumpei Wakabayashi
- Takayuki Murooka
- Kyoichi Sugahara
Authors
- Satoshi Ota
Crosswalk
Role
This module judges whether the ego should stop in front of the crosswalk in order to provide safe passage of pedestrians and bicycles based on object’s behavior and surround traffic.
Activation Timing
The manager launch crosswalk scene modules when the reference path conflicts crosswalk lanelets.
Module Parameters
Common parameters
Parameter | Type | Description |
---|---|---|
common.show_processing_time |
bool | whether to show processing time |
Parameters for input data
Parameter | Type | Description |
---|---|---|
common.traffic_light_state_timeout |
double | [s] timeout threshold for traffic light signal |
Parameters for stop position
The crosswalk module determines a stop position at least stop_distance_from_object
away from the object.
The stop line is the reference point for the stopping position of the vehicle, but if there is no stop line in front of the crosswalk, the position stop_distance_from_crosswalk
meters before the crosswalk is the virtual stop line for the vehicle. Then, if the stop position determined from stop_distance_from_object
exists in front of the stop line determined from the HDMap or stop_distance_from_crosswalk
, the actual stop position is determined according to stop_distance_from_object
in principle, and vice versa.
On the other hand, if pedestrian (bicycle) is crossing wide crosswalks seen in scramble intersections, and the pedestrian position is more than far_object_threshold
meters away from the stop line, the actual stop position is determined to be stop_distance_from_object
and pedestrian position, not at the stop line.
See the workflow in algorithms section.
Parameter | Type | Description |
---|---|---|
stop_position.stop_distance_from_object |
double | [m] the vehicle decelerates to be able to stop in front of object with margin |
stop_position.stop_distance_from_crosswalk |
double | [m] make stop line away from crosswalk when no explicit stop line exists |
stop_position.far_object_threshold |
double | [m] if objects cross X meters behind the stop line, the stop position is determined according to the object position (stop_distance_from_object meters before the object) |
stop_position.stop_position_threshold |
double | [m] threshold for check whether the vehicle stop in front of crosswalk |
Parameters for ego’s slow down velocity
Parameter | Type | Description |
---|---|---|
slow_velocity |
double | [m/s] target vehicle velocity when module receive slow down command from FOA |
max_slow_down_jerk |
double | [m/sss] minimum jerk deceleration for safe brake |
max_slow_down_accel |
double | [m/ss] minimum accel deceleration for safe brake |
no_relax_velocity |
double | [m/s] if the current velocity is less than X m/s, ego always stops at the stop position(not relax deceleration constraints) |
Parameters for stuck vehicle
If there are low speed or stop vehicle ahead of the crosswalk, and there is not enough space between the crosswalk and the vehicle (see following figure), closing the distance to that vehicle could cause Ego to be stuck on the crosswalk. So, in this situation, this module plans to stop before the crosswalk and wait until the vehicles move away, even if there are no pedestrians or bicycles.
Parameter | Type | Description |
---|---|---|
stuck_vehicle.stuck_vehicle_velocity |
double | [m/s] maximum velocity threshold whether the vehicle is stuck |
stuck_vehicle.max_stuck_vehicle_lateral_offset |
double | [m] maximum lateral offset for stuck vehicle position should be looked |
stuck_vehicle.stuck_vehicle_attention_range |
double | [m] the detection area is defined as X meters behind the crosswalk |
Parameters for pass judge logic
Also see algorithm section.
Parameter | Type | Description |
---|---|---|
pass_judge.ego_pass_first_margin |
double | [s] time margin for ego pass first situation |
pass_judge.ego_pass_later_margin |
double | [s] time margin for object pass first situation |
pass_judge.stop_object_velocity_threshold |
double | [m/s] velocity threshold for the module to judge whether the objects is stopped |
pass_judge.min_object_velocity |
double | [m/s] minimum object velocity (compare the estimated velocity by perception module with this parameter and adopt the larger one to calculate TTV.) |
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Name |
---|
eigen |
libboost-dev |
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged behavior_velocity_crosswalk_module at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 0.1.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Description | |
Checkout URI | https://github.com/ieiauto/autodrrt.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-05-30 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Satoshi Ota
- Tomoya Kimura
- Shumpei Wakabayashi
- Takayuki Murooka
- Kyoichi Sugahara
Authors
- Satoshi Ota
Crosswalk
Role
This module judges whether the ego should stop in front of the crosswalk in order to provide safe passage of pedestrians and bicycles based on object’s behavior and surround traffic.
Activation Timing
The manager launch crosswalk scene modules when the reference path conflicts crosswalk lanelets.
Module Parameters
Common parameters
Parameter | Type | Description |
---|---|---|
common.show_processing_time |
bool | whether to show processing time |
Parameters for input data
Parameter | Type | Description |
---|---|---|
common.traffic_light_state_timeout |
double | [s] timeout threshold for traffic light signal |
Parameters for stop position
The crosswalk module determines a stop position at least stop_distance_from_object
away from the object.
The stop line is the reference point for the stopping position of the vehicle, but if there is no stop line in front of the crosswalk, the position stop_distance_from_crosswalk
meters before the crosswalk is the virtual stop line for the vehicle. Then, if the stop position determined from stop_distance_from_object
exists in front of the stop line determined from the HDMap or stop_distance_from_crosswalk
, the actual stop position is determined according to stop_distance_from_object
in principle, and vice versa.
On the other hand, if pedestrian (bicycle) is crossing wide crosswalks seen in scramble intersections, and the pedestrian position is more than far_object_threshold
meters away from the stop line, the actual stop position is determined to be stop_distance_from_object
and pedestrian position, not at the stop line.
See the workflow in algorithms section.
Parameter | Type | Description |
---|---|---|
stop_position.stop_distance_from_object |
double | [m] the vehicle decelerates to be able to stop in front of object with margin |
stop_position.stop_distance_from_crosswalk |
double | [m] make stop line away from crosswalk when no explicit stop line exists |
stop_position.far_object_threshold |
double | [m] if objects cross X meters behind the stop line, the stop position is determined according to the object position (stop_distance_from_object meters before the object) |
stop_position.stop_position_threshold |
double | [m] threshold for check whether the vehicle stop in front of crosswalk |
Parameters for ego’s slow down velocity
Parameter | Type | Description |
---|---|---|
slow_velocity |
double | [m/s] target vehicle velocity when module receive slow down command from FOA |
max_slow_down_jerk |
double | [m/sss] minimum jerk deceleration for safe brake |
max_slow_down_accel |
double | [m/ss] minimum accel deceleration for safe brake |
no_relax_velocity |
double | [m/s] if the current velocity is less than X m/s, ego always stops at the stop position(not relax deceleration constraints) |
Parameters for stuck vehicle
If there are low speed or stop vehicle ahead of the crosswalk, and there is not enough space between the crosswalk and the vehicle (see following figure), closing the distance to that vehicle could cause Ego to be stuck on the crosswalk. So, in this situation, this module plans to stop before the crosswalk and wait until the vehicles move away, even if there are no pedestrians or bicycles.
Parameter | Type | Description |
---|---|---|
stuck_vehicle.stuck_vehicle_velocity |
double | [m/s] maximum velocity threshold whether the vehicle is stuck |
stuck_vehicle.max_stuck_vehicle_lateral_offset |
double | [m] maximum lateral offset for stuck vehicle position should be looked |
stuck_vehicle.stuck_vehicle_attention_range |
double | [m] the detection area is defined as X meters behind the crosswalk |
Parameters for pass judge logic
Also see algorithm section.
Parameter | Type | Description |
---|---|---|
pass_judge.ego_pass_first_margin |
double | [s] time margin for ego pass first situation |
pass_judge.ego_pass_later_margin |
double | [s] time margin for object pass first situation |
pass_judge.stop_object_velocity_threshold |
double | [m/s] velocity threshold for the module to judge whether the objects is stopped |
pass_judge.min_object_velocity |
double | [m/s] minimum object velocity (compare the estimated velocity by perception module with this parameter and adopt the larger one to calculate TTV.) |
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Name |
---|
eigen |
libboost-dev |
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged behavior_velocity_crosswalk_module at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 0.1.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Description | |
Checkout URI | https://github.com/ieiauto/autodrrt.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-05-30 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Satoshi Ota
- Tomoya Kimura
- Shumpei Wakabayashi
- Takayuki Murooka
- Kyoichi Sugahara
Authors
- Satoshi Ota
Crosswalk
Role
This module judges whether the ego should stop in front of the crosswalk in order to provide safe passage of pedestrians and bicycles based on object’s behavior and surround traffic.
Activation Timing
The manager launch crosswalk scene modules when the reference path conflicts crosswalk lanelets.
Module Parameters
Common parameters
Parameter | Type | Description |
---|---|---|
common.show_processing_time |
bool | whether to show processing time |
Parameters for input data
Parameter | Type | Description |
---|---|---|
common.traffic_light_state_timeout |
double | [s] timeout threshold for traffic light signal |
Parameters for stop position
The crosswalk module determines a stop position at least stop_distance_from_object
away from the object.
The stop line is the reference point for the stopping position of the vehicle, but if there is no stop line in front of the crosswalk, the position stop_distance_from_crosswalk
meters before the crosswalk is the virtual stop line for the vehicle. Then, if the stop position determined from stop_distance_from_object
exists in front of the stop line determined from the HDMap or stop_distance_from_crosswalk
, the actual stop position is determined according to stop_distance_from_object
in principle, and vice versa.
On the other hand, if pedestrian (bicycle) is crossing wide crosswalks seen in scramble intersections, and the pedestrian position is more than far_object_threshold
meters away from the stop line, the actual stop position is determined to be stop_distance_from_object
and pedestrian position, not at the stop line.
See the workflow in algorithms section.
Parameter | Type | Description |
---|---|---|
stop_position.stop_distance_from_object |
double | [m] the vehicle decelerates to be able to stop in front of object with margin |
stop_position.stop_distance_from_crosswalk |
double | [m] make stop line away from crosswalk when no explicit stop line exists |
stop_position.far_object_threshold |
double | [m] if objects cross X meters behind the stop line, the stop position is determined according to the object position (stop_distance_from_object meters before the object) |
stop_position.stop_position_threshold |
double | [m] threshold for check whether the vehicle stop in front of crosswalk |
Parameters for ego’s slow down velocity
Parameter | Type | Description |
---|---|---|
slow_velocity |
double | [m/s] target vehicle velocity when module receive slow down command from FOA |
max_slow_down_jerk |
double | [m/sss] minimum jerk deceleration for safe brake |
max_slow_down_accel |
double | [m/ss] minimum accel deceleration for safe brake |
no_relax_velocity |
double | [m/s] if the current velocity is less than X m/s, ego always stops at the stop position(not relax deceleration constraints) |
Parameters for stuck vehicle
If there are low speed or stop vehicle ahead of the crosswalk, and there is not enough space between the crosswalk and the vehicle (see following figure), closing the distance to that vehicle could cause Ego to be stuck on the crosswalk. So, in this situation, this module plans to stop before the crosswalk and wait until the vehicles move away, even if there are no pedestrians or bicycles.
Parameter | Type | Description |
---|---|---|
stuck_vehicle.stuck_vehicle_velocity |
double | [m/s] maximum velocity threshold whether the vehicle is stuck |
stuck_vehicle.max_stuck_vehicle_lateral_offset |
double | [m] maximum lateral offset for stuck vehicle position should be looked |
stuck_vehicle.stuck_vehicle_attention_range |
double | [m] the detection area is defined as X meters behind the crosswalk |
Parameters for pass judge logic
Also see algorithm section.
Parameter | Type | Description |
---|---|---|
pass_judge.ego_pass_first_margin |
double | [s] time margin for ego pass first situation |
pass_judge.ego_pass_later_margin |
double | [s] time margin for object pass first situation |
pass_judge.stop_object_velocity_threshold |
double | [m/s] velocity threshold for the module to judge whether the objects is stopped |
pass_judge.min_object_velocity |
double | [m/s] minimum object velocity (compare the estimated velocity by perception module with this parameter and adopt the larger one to calculate TTV.) |
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Name |
---|
eigen |
libboost-dev |
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged behavior_velocity_crosswalk_module at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 0.1.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Description | |
Checkout URI | https://github.com/ieiauto/autodrrt.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-05-30 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Satoshi Ota
- Tomoya Kimura
- Shumpei Wakabayashi
- Takayuki Murooka
- Kyoichi Sugahara
Authors
- Satoshi Ota
Crosswalk
Role
This module judges whether the ego should stop in front of the crosswalk in order to provide safe passage of pedestrians and bicycles based on object’s behavior and surround traffic.
Activation Timing
The manager launch crosswalk scene modules when the reference path conflicts crosswalk lanelets.
Module Parameters
Common parameters
Parameter | Type | Description |
---|---|---|
common.show_processing_time |
bool | whether to show processing time |
Parameters for input data
Parameter | Type | Description |
---|---|---|
common.traffic_light_state_timeout |
double | [s] timeout threshold for traffic light signal |
Parameters for stop position
The crosswalk module determines a stop position at least stop_distance_from_object
away from the object.
The stop line is the reference point for the stopping position of the vehicle, but if there is no stop line in front of the crosswalk, the position stop_distance_from_crosswalk
meters before the crosswalk is the virtual stop line for the vehicle. Then, if the stop position determined from stop_distance_from_object
exists in front of the stop line determined from the HDMap or stop_distance_from_crosswalk
, the actual stop position is determined according to stop_distance_from_object
in principle, and vice versa.
On the other hand, if pedestrian (bicycle) is crossing wide crosswalks seen in scramble intersections, and the pedestrian position is more than far_object_threshold
meters away from the stop line, the actual stop position is determined to be stop_distance_from_object
and pedestrian position, not at the stop line.
See the workflow in algorithms section.
Parameter | Type | Description |
---|---|---|
stop_position.stop_distance_from_object |
double | [m] the vehicle decelerates to be able to stop in front of object with margin |
stop_position.stop_distance_from_crosswalk |
double | [m] make stop line away from crosswalk when no explicit stop line exists |
stop_position.far_object_threshold |
double | [m] if objects cross X meters behind the stop line, the stop position is determined according to the object position (stop_distance_from_object meters before the object) |
stop_position.stop_position_threshold |
double | [m] threshold for check whether the vehicle stop in front of crosswalk |
Parameters for ego’s slow down velocity
Parameter | Type | Description |
---|---|---|
slow_velocity |
double | [m/s] target vehicle velocity when module receive slow down command from FOA |
max_slow_down_jerk |
double | [m/sss] minimum jerk deceleration for safe brake |
max_slow_down_accel |
double | [m/ss] minimum accel deceleration for safe brake |
no_relax_velocity |
double | [m/s] if the current velocity is less than X m/s, ego always stops at the stop position(not relax deceleration constraints) |
Parameters for stuck vehicle
If there are low speed or stop vehicle ahead of the crosswalk, and there is not enough space between the crosswalk and the vehicle (see following figure), closing the distance to that vehicle could cause Ego to be stuck on the crosswalk. So, in this situation, this module plans to stop before the crosswalk and wait until the vehicles move away, even if there are no pedestrians or bicycles.
Parameter | Type | Description |
---|---|---|
stuck_vehicle.stuck_vehicle_velocity |
double | [m/s] maximum velocity threshold whether the vehicle is stuck |
stuck_vehicle.max_stuck_vehicle_lateral_offset |
double | [m] maximum lateral offset for stuck vehicle position should be looked |
stuck_vehicle.stuck_vehicle_attention_range |
double | [m] the detection area is defined as X meters behind the crosswalk |
Parameters for pass judge logic
Also see algorithm section.
Parameter | Type | Description |
---|---|---|
pass_judge.ego_pass_first_margin |
double | [s] time margin for ego pass first situation |
pass_judge.ego_pass_later_margin |
double | [s] time margin for object pass first situation |
pass_judge.stop_object_velocity_threshold |
double | [m/s] velocity threshold for the module to judge whether the objects is stopped |
pass_judge.min_object_velocity |
double | [m/s] minimum object velocity (compare the estimated velocity by perception module with this parameter and adopt the larger one to calculate TTV.) |
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Name |
---|
eigen |
libboost-dev |
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged behavior_velocity_crosswalk_module at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 0.1.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Description | |
Checkout URI | https://github.com/ieiauto/autodrrt.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-05-30 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Satoshi Ota
- Tomoya Kimura
- Shumpei Wakabayashi
- Takayuki Murooka
- Kyoichi Sugahara
Authors
- Satoshi Ota
Crosswalk
Role
This module judges whether the ego should stop in front of the crosswalk in order to provide safe passage of pedestrians and bicycles based on object’s behavior and surround traffic.
Activation Timing
The manager launch crosswalk scene modules when the reference path conflicts crosswalk lanelets.
Module Parameters
Common parameters
Parameter | Type | Description |
---|---|---|
common.show_processing_time |
bool | whether to show processing time |
Parameters for input data
Parameter | Type | Description |
---|---|---|
common.traffic_light_state_timeout |
double | [s] timeout threshold for traffic light signal |
Parameters for stop position
The crosswalk module determines a stop position at least stop_distance_from_object
away from the object.
The stop line is the reference point for the stopping position of the vehicle, but if there is no stop line in front of the crosswalk, the position stop_distance_from_crosswalk
meters before the crosswalk is the virtual stop line for the vehicle. Then, if the stop position determined from stop_distance_from_object
exists in front of the stop line determined from the HDMap or stop_distance_from_crosswalk
, the actual stop position is determined according to stop_distance_from_object
in principle, and vice versa.
On the other hand, if pedestrian (bicycle) is crossing wide crosswalks seen in scramble intersections, and the pedestrian position is more than far_object_threshold
meters away from the stop line, the actual stop position is determined to be stop_distance_from_object
and pedestrian position, not at the stop line.
See the workflow in algorithms section.
Parameter | Type | Description |
---|---|---|
stop_position.stop_distance_from_object |
double | [m] the vehicle decelerates to be able to stop in front of object with margin |
stop_position.stop_distance_from_crosswalk |
double | [m] make stop line away from crosswalk when no explicit stop line exists |
stop_position.far_object_threshold |
double | [m] if objects cross X meters behind the stop line, the stop position is determined according to the object position (stop_distance_from_object meters before the object) |
stop_position.stop_position_threshold |
double | [m] threshold for check whether the vehicle stop in front of crosswalk |
Parameters for ego’s slow down velocity
Parameter | Type | Description |
---|---|---|
slow_velocity |
double | [m/s] target vehicle velocity when module receive slow down command from FOA |
max_slow_down_jerk |
double | [m/sss] minimum jerk deceleration for safe brake |
max_slow_down_accel |
double | [m/ss] minimum accel deceleration for safe brake |
no_relax_velocity |
double | [m/s] if the current velocity is less than X m/s, ego always stops at the stop position(not relax deceleration constraints) |
Parameters for stuck vehicle
If there are low speed or stop vehicle ahead of the crosswalk, and there is not enough space between the crosswalk and the vehicle (see following figure), closing the distance to that vehicle could cause Ego to be stuck on the crosswalk. So, in this situation, this module plans to stop before the crosswalk and wait until the vehicles move away, even if there are no pedestrians or bicycles.
Parameter | Type | Description |
---|---|---|
stuck_vehicle.stuck_vehicle_velocity |
double | [m/s] maximum velocity threshold whether the vehicle is stuck |
stuck_vehicle.max_stuck_vehicle_lateral_offset |
double | [m] maximum lateral offset for stuck vehicle position should be looked |
stuck_vehicle.stuck_vehicle_attention_range |
double | [m] the detection area is defined as X meters behind the crosswalk |
Parameters for pass judge logic
Also see algorithm section.
Parameter | Type | Description |
---|---|---|
pass_judge.ego_pass_first_margin |
double | [s] time margin for ego pass first situation |
pass_judge.ego_pass_later_margin |
double | [s] time margin for object pass first situation |
pass_judge.stop_object_velocity_threshold |
double | [m/s] velocity threshold for the module to judge whether the objects is stopped |
pass_judge.min_object_velocity |
double | [m/s] minimum object velocity (compare the estimated velocity by perception module with this parameter and adopt the larger one to calculate TTV.) |
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Name |
---|
eigen |
libboost-dev |
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged behavior_velocity_crosswalk_module at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 0.1.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Description | |
Checkout URI | https://github.com/ieiauto/autodrrt.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-05-30 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Satoshi Ota
- Tomoya Kimura
- Shumpei Wakabayashi
- Takayuki Murooka
- Kyoichi Sugahara
Authors
- Satoshi Ota
Crosswalk
Role
This module judges whether the ego should stop in front of the crosswalk in order to provide safe passage of pedestrians and bicycles based on object’s behavior and surround traffic.
Activation Timing
The manager launch crosswalk scene modules when the reference path conflicts crosswalk lanelets.
Module Parameters
Common parameters
Parameter | Type | Description |
---|---|---|
common.show_processing_time |
bool | whether to show processing time |
Parameters for input data
Parameter | Type | Description |
---|---|---|
common.traffic_light_state_timeout |
double | [s] timeout threshold for traffic light signal |
Parameters for stop position
The crosswalk module determines a stop position at least stop_distance_from_object
away from the object.
The stop line is the reference point for the stopping position of the vehicle, but if there is no stop line in front of the crosswalk, the position stop_distance_from_crosswalk
meters before the crosswalk is the virtual stop line for the vehicle. Then, if the stop position determined from stop_distance_from_object
exists in front of the stop line determined from the HDMap or stop_distance_from_crosswalk
, the actual stop position is determined according to stop_distance_from_object
in principle, and vice versa.
On the other hand, if pedestrian (bicycle) is crossing wide crosswalks seen in scramble intersections, and the pedestrian position is more than far_object_threshold
meters away from the stop line, the actual stop position is determined to be stop_distance_from_object
and pedestrian position, not at the stop line.
See the workflow in algorithms section.
Parameter | Type | Description |
---|---|---|
stop_position.stop_distance_from_object |
double | [m] the vehicle decelerates to be able to stop in front of object with margin |
stop_position.stop_distance_from_crosswalk |
double | [m] make stop line away from crosswalk when no explicit stop line exists |
stop_position.far_object_threshold |
double | [m] if objects cross X meters behind the stop line, the stop position is determined according to the object position (stop_distance_from_object meters before the object) |
stop_position.stop_position_threshold |
double | [m] threshold for check whether the vehicle stop in front of crosswalk |
Parameters for ego’s slow down velocity
Parameter | Type | Description |
---|---|---|
slow_velocity |
double | [m/s] target vehicle velocity when module receive slow down command from FOA |
max_slow_down_jerk |
double | [m/sss] minimum jerk deceleration for safe brake |
max_slow_down_accel |
double | [m/ss] minimum accel deceleration for safe brake |
no_relax_velocity |
double | [m/s] if the current velocity is less than X m/s, ego always stops at the stop position(not relax deceleration constraints) |
Parameters for stuck vehicle
If there are low speed or stop vehicle ahead of the crosswalk, and there is not enough space between the crosswalk and the vehicle (see following figure), closing the distance to that vehicle could cause Ego to be stuck on the crosswalk. So, in this situation, this module plans to stop before the crosswalk and wait until the vehicles move away, even if there are no pedestrians or bicycles.
Parameter | Type | Description |
---|---|---|
stuck_vehicle.stuck_vehicle_velocity |
double | [m/s] maximum velocity threshold whether the vehicle is stuck |
stuck_vehicle.max_stuck_vehicle_lateral_offset |
double | [m] maximum lateral offset for stuck vehicle position should be looked |
stuck_vehicle.stuck_vehicle_attention_range |
double | [m] the detection area is defined as X meters behind the crosswalk |
Parameters for pass judge logic
Also see algorithm section.
Parameter | Type | Description |
---|---|---|
pass_judge.ego_pass_first_margin |
double | [s] time margin for ego pass first situation |
pass_judge.ego_pass_later_margin |
double | [s] time margin for object pass first situation |
pass_judge.stop_object_velocity_threshold |
double | [m/s] velocity threshold for the module to judge whether the objects is stopped |
pass_judge.min_object_velocity |
double | [m/s] minimum object velocity (compare the estimated velocity by perception module with this parameter and adopt the larger one to calculate TTV.) |
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Name |
---|
eigen |
libboost-dev |
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged behavior_velocity_crosswalk_module at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 0.1.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Description | |
Checkout URI | https://github.com/ieiauto/autodrrt.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-05-30 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Satoshi Ota
- Tomoya Kimura
- Shumpei Wakabayashi
- Takayuki Murooka
- Kyoichi Sugahara
Authors
- Satoshi Ota
Crosswalk
Role
This module judges whether the ego should stop in front of the crosswalk in order to provide safe passage of pedestrians and bicycles based on object’s behavior and surround traffic.
Activation Timing
The manager launch crosswalk scene modules when the reference path conflicts crosswalk lanelets.
Module Parameters
Common parameters
Parameter | Type | Description |
---|---|---|
common.show_processing_time |
bool | whether to show processing time |
Parameters for input data
Parameter | Type | Description |
---|---|---|
common.traffic_light_state_timeout |
double | [s] timeout threshold for traffic light signal |
Parameters for stop position
The crosswalk module determines a stop position at least stop_distance_from_object
away from the object.
The stop line is the reference point for the stopping position of the vehicle, but if there is no stop line in front of the crosswalk, the position stop_distance_from_crosswalk
meters before the crosswalk is the virtual stop line for the vehicle. Then, if the stop position determined from stop_distance_from_object
exists in front of the stop line determined from the HDMap or stop_distance_from_crosswalk
, the actual stop position is determined according to stop_distance_from_object
in principle, and vice versa.
On the other hand, if pedestrian (bicycle) is crossing wide crosswalks seen in scramble intersections, and the pedestrian position is more than far_object_threshold
meters away from the stop line, the actual stop position is determined to be stop_distance_from_object
and pedestrian position, not at the stop line.
See the workflow in algorithms section.
Parameter | Type | Description |
---|---|---|
stop_position.stop_distance_from_object |
double | [m] the vehicle decelerates to be able to stop in front of object with margin |
stop_position.stop_distance_from_crosswalk |
double | [m] make stop line away from crosswalk when no explicit stop line exists |
stop_position.far_object_threshold |
double | [m] if objects cross X meters behind the stop line, the stop position is determined according to the object position (stop_distance_from_object meters before the object) |
stop_position.stop_position_threshold |
double | [m] threshold for check whether the vehicle stop in front of crosswalk |
Parameters for ego’s slow down velocity
Parameter | Type | Description |
---|---|---|
slow_velocity |
double | [m/s] target vehicle velocity when module receive slow down command from FOA |
max_slow_down_jerk |
double | [m/sss] minimum jerk deceleration for safe brake |
max_slow_down_accel |
double | [m/ss] minimum accel deceleration for safe brake |
no_relax_velocity |
double | [m/s] if the current velocity is less than X m/s, ego always stops at the stop position(not relax deceleration constraints) |
Parameters for stuck vehicle
If there are low speed or stop vehicle ahead of the crosswalk, and there is not enough space between the crosswalk and the vehicle (see following figure), closing the distance to that vehicle could cause Ego to be stuck on the crosswalk. So, in this situation, this module plans to stop before the crosswalk and wait until the vehicles move away, even if there are no pedestrians or bicycles.
Parameter | Type | Description |
---|---|---|
stuck_vehicle.stuck_vehicle_velocity |
double | [m/s] maximum velocity threshold whether the vehicle is stuck |
stuck_vehicle.max_stuck_vehicle_lateral_offset |
double | [m] maximum lateral offset for stuck vehicle position should be looked |
stuck_vehicle.stuck_vehicle_attention_range |
double | [m] the detection area is defined as X meters behind the crosswalk |
Parameters for pass judge logic
Also see algorithm section.
Parameter | Type | Description |
---|---|---|
pass_judge.ego_pass_first_margin |
double | [s] time margin for ego pass first situation |
pass_judge.ego_pass_later_margin |
double | [s] time margin for object pass first situation |
pass_judge.stop_object_velocity_threshold |
double | [m/s] velocity threshold for the module to judge whether the objects is stopped |
pass_judge.min_object_velocity |
double | [m/s] minimum object velocity (compare the estimated velocity by perception module with this parameter and adopt the larger one to calculate TTV.) |
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Name |
---|
eigen |
libboost-dev |
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged behavior_velocity_crosswalk_module at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 0.1.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Description | |
Checkout URI | https://github.com/ieiauto/autodrrt.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-05-30 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Satoshi Ota
- Tomoya Kimura
- Shumpei Wakabayashi
- Takayuki Murooka
- Kyoichi Sugahara
Authors
- Satoshi Ota
Crosswalk
Role
This module judges whether the ego should stop in front of the crosswalk in order to provide safe passage of pedestrians and bicycles based on object’s behavior and surround traffic.
Activation Timing
The manager launch crosswalk scene modules when the reference path conflicts crosswalk lanelets.
Module Parameters
Common parameters
Parameter | Type | Description |
---|---|---|
common.show_processing_time |
bool | whether to show processing time |
Parameters for input data
Parameter | Type | Description |
---|---|---|
common.traffic_light_state_timeout |
double | [s] timeout threshold for traffic light signal |
Parameters for stop position
The crosswalk module determines a stop position at least stop_distance_from_object
away from the object.
The stop line is the reference point for the stopping position of the vehicle, but if there is no stop line in front of the crosswalk, the position stop_distance_from_crosswalk
meters before the crosswalk is the virtual stop line for the vehicle. Then, if the stop position determined from stop_distance_from_object
exists in front of the stop line determined from the HDMap or stop_distance_from_crosswalk
, the actual stop position is determined according to stop_distance_from_object
in principle, and vice versa.
On the other hand, if pedestrian (bicycle) is crossing wide crosswalks seen in scramble intersections, and the pedestrian position is more than far_object_threshold
meters away from the stop line, the actual stop position is determined to be stop_distance_from_object
and pedestrian position, not at the stop line.
See the workflow in algorithms section.
Parameter | Type | Description |
---|---|---|
stop_position.stop_distance_from_object |
double | [m] the vehicle decelerates to be able to stop in front of object with margin |
stop_position.stop_distance_from_crosswalk |
double | [m] make stop line away from crosswalk when no explicit stop line exists |
stop_position.far_object_threshold |
double | [m] if objects cross X meters behind the stop line, the stop position is determined according to the object position (stop_distance_from_object meters before the object) |
stop_position.stop_position_threshold |
double | [m] threshold for check whether the vehicle stop in front of crosswalk |
Parameters for ego’s slow down velocity
Parameter | Type | Description |
---|---|---|
slow_velocity |
double | [m/s] target vehicle velocity when module receive slow down command from FOA |
max_slow_down_jerk |
double | [m/sss] minimum jerk deceleration for safe brake |
max_slow_down_accel |
double | [m/ss] minimum accel deceleration for safe brake |
no_relax_velocity |
double | [m/s] if the current velocity is less than X m/s, ego always stops at the stop position(not relax deceleration constraints) |
Parameters for stuck vehicle
If there are low speed or stop vehicle ahead of the crosswalk, and there is not enough space between the crosswalk and the vehicle (see following figure), closing the distance to that vehicle could cause Ego to be stuck on the crosswalk. So, in this situation, this module plans to stop before the crosswalk and wait until the vehicles move away, even if there are no pedestrians or bicycles.
Parameter | Type | Description |
---|---|---|
stuck_vehicle.stuck_vehicle_velocity |
double | [m/s] maximum velocity threshold whether the vehicle is stuck |
stuck_vehicle.max_stuck_vehicle_lateral_offset |
double | [m] maximum lateral offset for stuck vehicle position should be looked |
stuck_vehicle.stuck_vehicle_attention_range |
double | [m] the detection area is defined as X meters behind the crosswalk |
Parameters for pass judge logic
Also see algorithm section.
Parameter | Type | Description |
---|---|---|
pass_judge.ego_pass_first_margin |
double | [s] time margin for ego pass first situation |
pass_judge.ego_pass_later_margin |
double | [s] time margin for object pass first situation |
pass_judge.stop_object_velocity_threshold |
double | [m/s] velocity threshold for the module to judge whether the objects is stopped |
pass_judge.min_object_velocity |
double | [m/s] minimum object velocity (compare the estimated velocity by perception module with this parameter and adopt the larger one to calculate TTV.) |
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Name |
---|
eigen |
libboost-dev |
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged behavior_velocity_crosswalk_module at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 0.1.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Description | |
Checkout URI | https://github.com/ieiauto/autodrrt.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-05-30 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Satoshi Ota
- Tomoya Kimura
- Shumpei Wakabayashi
- Takayuki Murooka
- Kyoichi Sugahara
Authors
- Satoshi Ota
Crosswalk
Role
This module judges whether the ego should stop in front of the crosswalk in order to provide safe passage of pedestrians and bicycles based on object’s behavior and surround traffic.
Activation Timing
The manager launch crosswalk scene modules when the reference path conflicts crosswalk lanelets.
Module Parameters
Common parameters
Parameter | Type | Description |
---|---|---|
common.show_processing_time |
bool | whether to show processing time |
Parameters for input data
Parameter | Type | Description |
---|---|---|
common.traffic_light_state_timeout |
double | [s] timeout threshold for traffic light signal |
Parameters for stop position
The crosswalk module determines a stop position at least stop_distance_from_object
away from the object.
The stop line is the reference point for the stopping position of the vehicle, but if there is no stop line in front of the crosswalk, the position stop_distance_from_crosswalk
meters before the crosswalk is the virtual stop line for the vehicle. Then, if the stop position determined from stop_distance_from_object
exists in front of the stop line determined from the HDMap or stop_distance_from_crosswalk
, the actual stop position is determined according to stop_distance_from_object
in principle, and vice versa.
On the other hand, if pedestrian (bicycle) is crossing wide crosswalks seen in scramble intersections, and the pedestrian position is more than far_object_threshold
meters away from the stop line, the actual stop position is determined to be stop_distance_from_object
and pedestrian position, not at the stop line.
See the workflow in algorithms section.
Parameter | Type | Description |
---|---|---|
stop_position.stop_distance_from_object |
double | [m] the vehicle decelerates to be able to stop in front of object with margin |
stop_position.stop_distance_from_crosswalk |
double | [m] make stop line away from crosswalk when no explicit stop line exists |
stop_position.far_object_threshold |
double | [m] if objects cross X meters behind the stop line, the stop position is determined according to the object position (stop_distance_from_object meters before the object) |
stop_position.stop_position_threshold |
double | [m] threshold for check whether the vehicle stop in front of crosswalk |
Parameters for ego’s slow down velocity
Parameter | Type | Description |
---|---|---|
slow_velocity |
double | [m/s] target vehicle velocity when module receive slow down command from FOA |
max_slow_down_jerk |
double | [m/sss] minimum jerk deceleration for safe brake |
max_slow_down_accel |
double | [m/ss] minimum accel deceleration for safe brake |
no_relax_velocity |
double | [m/s] if the current velocity is less than X m/s, ego always stops at the stop position(not relax deceleration constraints) |
Parameters for stuck vehicle
If there are low speed or stop vehicle ahead of the crosswalk, and there is not enough space between the crosswalk and the vehicle (see following figure), closing the distance to that vehicle could cause Ego to be stuck on the crosswalk. So, in this situation, this module plans to stop before the crosswalk and wait until the vehicles move away, even if there are no pedestrians or bicycles.
Parameter | Type | Description |
---|---|---|
stuck_vehicle.stuck_vehicle_velocity |
double | [m/s] maximum velocity threshold whether the vehicle is stuck |
stuck_vehicle.max_stuck_vehicle_lateral_offset |
double | [m] maximum lateral offset for stuck vehicle position should be looked |
stuck_vehicle.stuck_vehicle_attention_range |
double | [m] the detection area is defined as X meters behind the crosswalk |
Parameters for pass judge logic
Also see algorithm section.
Parameter | Type | Description |
---|---|---|
pass_judge.ego_pass_first_margin |
double | [s] time margin for ego pass first situation |
pass_judge.ego_pass_later_margin |
double | [s] time margin for object pass first situation |
pass_judge.stop_object_velocity_threshold |
double | [m/s] velocity threshold for the module to judge whether the objects is stopped |
pass_judge.min_object_velocity |
double | [m/s] minimum object velocity (compare the estimated velocity by perception module with this parameter and adopt the larger one to calculate TTV.) |
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Name |
---|
eigen |
libboost-dev |