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lane_departure_checker package from autodrrt repo

autonomous_emergency_braking control_performance_analysis control_validator external_cmd_selector joy_controller lane_departure_checker mpc_lateral_controller obstacle_collision_checker operation_mode_transition_manager pid_longitudinal_controller predicted_path_checker pure_pursuit shift_decider trajectory_follower_base trajectory_follower_node vehicle_cmd_gate diagnostic_converter kinematic_evaluator localization_evaluator planning_evaluator ekf_localizer geo_pose_projector gyro_odometer ar_tag_based_localizer landmark_manager localization_error_monitor localization_gnss localization_util ndt_scan_matcher pose2twist pose_initializer pose_instability_detector stop_filter tree_structured_parzen_estimator twist2accel yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer map_height_fitter map_loader map_projection_loader map_tf_generator lanelet2_map_preprocessor ros2_bevdet bytetrack cluster_merger compare_map_segmentation crosswalk_traffic_light_estimator detected_object_feature_remover detected_object_validation detection_by_tracker elevation_map_loader euclidean_cluster front_vehicle_velocity_estimator ground_segmentation heatmap_visualizer image_projection_based_fusion lidar_apollo_instance_segmentation lidar_apollo_segmentation_tvm lidar_apollo_segmentation_tvm_nodes lidar_centerpoint lidar_centerpoint_tvm map_based_prediction multi_object_tracker object_merger object_range_splitter object_velocity_splitter occupancy_grid_map_outlier_filter probabilistic_occupancy_grid_map radar_crossing_objects_noise_filter radar_fusion_to_detected_object radar_object_clustering radar_object_tracker radar_tracks_msgs_converter shape_estimation simple_object_merger tensorrt_classifier tensorrt_yolo tensorrt_yolox tracking_object_merger traffic_light_arbiter traffic_light_classifier traffic_light_fine_detector traffic_light_map_based_detector traffic_light_multi_camera_fusion traffic_light_occlusion_predictor traffic_light_ssd_fine_detector traffic_light_visualization behavior_path_avoidance_by_lane_change_module behavior_path_avoidance_module behavior_path_external_request_lane_change_module behavior_path_goal_planner_module behavior_path_lane_change_module behavior_path_planner behavior_path_planner_common behavior_path_side_shift_module behavior_path_start_planner_module behavior_velocity_blind_spot_module behavior_velocity_crosswalk_module behavior_velocity_detection_area_module behavior_velocity_intersection_module behavior_velocity_no_drivable_lane_module behavior_velocity_no_stopping_area_module behavior_velocity_occlusion_spot_module behavior_velocity_out_of_lane_module behavior_velocity_planner behavior_velocity_planner_common behavior_velocity_run_out_module behavior_velocity_speed_bump_module behavior_velocity_stop_line_module behavior_velocity_template_module behavior_velocity_traffic_light_module behavior_velocity_virtual_traffic_light_module behavior_velocity_walkway_module costmap_generator external_velocity_limit_selector freespace_planner freespace_planning_algorithms mission_planner motion_velocity_smoother objects_of_interest_marker_interface obstacle_avoidance_planner obstacle_cruise_planner obstacle_stop_planner obstacle_velocity_limiter path_smoother planning_debug_tools planning_test_utils planning_topic_converter planning_validator route_handler rtc_interface rtc_replayer bezier_sampler frenet_planner path_sampler sampler_common scenario_selector static_centerline_optimizer surround_obstacle_checker gnss_poser image_diagnostics image_transport_decompressor imu_corrector livox_tag_filter pointcloud_preprocessor radar_scan_to_pointcloud2 radar_static_pointcloud_filter radar_threshold_filter radar_tracks_noise_filter tier4_pcl_extensions vehicle_velocity_converter autoware_auto_msgs_adapter bluetooth_monitor component_state_monitor default_ad_api ad_api_adaptors ad_api_visualizers automatic_pose_initializer diagnostic_graph_aggregator dummy_diag_publisher dummy_infrastructure duplicated_node_checker emergency_handler mrm_comfortable_stop_operator mrm_emergency_stop_operator system_error_monitor system_monitor topic_state_monitor velodyne_monitor accel_brake_map_calibrator external_cmd_converter raw_vehicle_cmd_converter steer_offset_estimator vehicle_info_util launch loop_sim ssh_machine gpudirect-dds autoware_ad_api_specs autoware_adapi_v1_msgs autoware_adapi_version_msgs autoware_auto_common autoware_auto_geometry autoware_auto_control_msgs autoware_auto_geometry_msgs autoware_auto_mapping_msgs autoware_auto_msgs autoware_auto_perception_msgs autoware_auto_planning_msgs autoware_auto_system_msgs autoware_auto_vehicle_msgs autoware_auto_perception_rviz_plugin autoware_auto_tf2 autoware_cmake autoware_lint_common autoware_utils lanelet2_extension autoware_common_msgs autoware_control_msgs autoware_localization_msgs autoware_map_msgs autoware_perception_msgs autoware_planning_msgs autoware_sensing_msgs autoware_system_msgs autoware_vehicle_msgs autoware_point_types autoware_testing bag_time_manager_rviz_plugin component_interface_specs component_interface_tools component_interface_utils cuda_utils fake_test_node geography_utils global_parameter_loader glog_component goal_distance_calculator grid_map_utils interpolation kalman_filter motion_utils object_recognition_utils osqp_interface path_distance_calculator perception_utils polar_grid qp_interface rtc_manager_rviz_plugin signal_processing tensorrt_common tier4_adapi_rviz_plugin tier4_api_utils tier4_automatic_goal_rviz_plugin tier4_autoware_utils tier4_calibration_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_rviz_plugin tier4_datetime_rviz_plugin tier4_debug_rviz_plugin tier4_debug_tools tier4_localization_rviz_plugin tier4_perception_rviz_plugin tier4_planning_rviz_plugin tier4_screen_capture_rviz_plugin tier4_simulated_clock_rviz_plugin tier4_state_rviz_plugin tier4_system_rviz_plugin tier4_target_object_type_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin time_utils simulator_compatibility_test traffic_light_recognition_marker_publisher traffic_light_utils tvm_utility dma_customer_msg dma_transfer eagleye_coordinate eagleye_navigation eagleye_msgs eagleye_rt eagleye_can_velocity_converter eagleye_fix2kml eagleye_geo_pose_converter eagleye_geo_pose_fusion eagleye_gnss_converter eagleye_tf llh_converter morai_msgs mussp ndt_omp orocos_kdl python_orocos_kdl pointcloud_to_laserscan rtklib_bridge rtklib_msgs autoware_external_api_msgs autoware_iv_external_api_adaptor autoware_iv_internal_api_adaptor awapi_awiv_adapter tier4_api_msgs tier4_auto_msgs_converter tier4_control_msgs tier4_debug_msgs tier4_external_api_msgs tier4_hmi_msgs tier4_localization_msgs tier4_map_msgs tier4_perception_msgs tier4_planning_msgs tier4_rtc_msgs tier4_simulation_msgs tier4_system_msgs tier4_v2x_msgs tier4_vehicle_msgs tier4_autoware_api_launch tier4_control_launch tier4_localization_launch tier4_map_launch tier4_perception_launch tier4_planning_launch tier4_sensing_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch fastrtps cyclonedds lanelet2 lanelet2_core lanelet2_examples lanelet2_io lanelet2_maps lanelet2_matching lanelet2_projection lanelet2_python lanelet2_routing lanelet2_traffic_rules lanelet2_validation sophus angles behaviortree_cpp_v3 bond bond_core bondcpp bondpy smclib test_bond cudnn_cmake_module diagnostic_aggregator diagnostic_common_diagnostics diagnostic_updater diagnostics self_test filters geodesy geographic_info geographic_msgs grid_map grid_map_cmake_helpers grid_map_core grid_map_costmap_2d grid_map_cv grid_map_demos grid_map_filters grid_map_loader grid_map_msgs grid_map_octomap grid_map_pcl grid_map_ros grid_map_rviz_plugin grid_map_sdf grid_map_visualization mrt_cmake_modules nav2_amcl nav2_behavior_tree nav2_behaviors nav2_bringup nav2_bt_navigator nav2_collision_monitor nav2_common nav2_controller nav2_core nav2_costmap_2d costmap_queue dwb_core dwb_critics dwb_msgs dwb_plugins nav2_dwb_controller nav_2d_msgs nav_2d_utils nav2_lifecycle_manager nav2_map_server nav2_msgs nav2_navfn_planner nav2_planner nav2_regulated_pure_pursuit_controller nav2_rotation_shim_controller nav2_rviz_plugins nav2_simple_commander nav2_smac_planner nav2_smoother nav2_system_tests nav2_theta_star_planner nav2_util nav2_velocity_smoother nav2_voxel_grid nav2_waypoint_follower navigation2 dynamic_edt_3d octomap octovis octomap_msgs osqp_vendor pacmod3_msgs pcl_msgs pcl_conversions pcl_ros perception_pcl point_cloud_msg_wrapper radar_msgs can_msgs rqt_tf_tree tensorrt_cmake_module topic_tools topic_tools_interfaces tvm_vendor cv_bridge image_geometry opencv_tests vision_opencv xacro rviz2 rviz_assimp_vendor rviz_common rviz_default_plugins rviz_ogre_vendor rviz_rendering rviz_rendering_tests rviz_visual_testing_framework dummy_perception_publisher fault_injection simple_planning_simulator image_view v4l2_camera aion_interface carla_vehicle_can cgi430_can_driver cgi610_driver ARS408_driver common_sensor_launch kunyi_sensor_kit_description kunyi_sensor_kit_launch classformsg node_v2x data_format_dump data_preprocess_launch lidar_centerpoint_collect lidar_saver message_sync time_cal camera_calibration direct_visual_lidar_calibration multi_lidar_calibration

ROS Distro
github

API Docs
Browse Code

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

The lane_departure_checker package

Additional Links

No additional links.

Maintainers

  • Kyoichi Sugahara
  • Makoto Kurihara

Authors

No additional authors.
src/autodrrt.application/control/lane_departure_checker/README.md

Lane Departure Checker

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

Features

This package includes the following features:

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

Inner-workings / Algorithms

How to extend footprint by covariance

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

    1.Transform covariance into vehicle coordinate.

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

    Calculate covariance in vehicle coordinate.

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

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

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

Interface

Input

  • /localization/kinematic_state [nav_msgs::msg::Odometry]
  • /map/vector_map [autoware_auto_mapping_msgs::msg::HADMapBin]
  • /planning/mission_planning/route [autoware_planning_msgs::msg::LaneletRoute]
  • /planning/scenario_planning/trajectory [autoware_auto_planning_msgs::msg::Trajectory]
  • /control/trajectory_follower/predicted_trajectory [autoware_auto_planning_msgs::msg::Trajectory]

Output

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

Parameters

Node Parameters

General Parameters

Name Type Description Default value
will_out_of_lane_checker bool Enable checker whether ego vehicle footprint will depart from lane True
out_of_lane_checker bool Enable checker whether ego vehicle footprint is out of lane True
boundary_departure_checker bool Enable checker whether ego vehicle footprint wil depart from boundary specified by boundary_types_to_detect False
update_rate double Frequency for publishing [Hz] 10.0
visualize_lanelet bool Flag for visualizing lanelet False

Parameters For Lane Departure

Name Type Description Default value
include_right_lanes bool Flag for including right lanelet in borders False
include_left_lanes bool Flag for including left lanelet in borders False
include_opposite_lanes bool Flag for including opposite lanelet in borders False
include_conflicting_lanes bool Flag for including conflicting lanelet in borders False

Parameters For Road Border Departure

Name Type Description Default value
boundary_types_to_detect std::vector<std::string> line_string types to detect with boundary_departure_checker [road_border]

Core Parameters

Name Type Description Default value
footprint_margin_scale double Coefficient for expanding footprint margin. Multiplied by 1 standard deviation. 1.0
resample_interval double Minimum Euclidean distance between points when resample trajectory.[m] 0.3
max_deceleration double Maximum deceleration when calculating braking distance. 2.8
delay_time double Delay time which took to actuate brake when calculating braking distance. [second] 1.3
max_lateral_deviation double Maximum lateral deviation in vehicle coordinate. [m] 2.0
max_longitudinal_deviation double Maximum longitudinal deviation in vehicle coordinate. [m] 2.0

File truncated at 100 lines see the full file

CHANGELOG
No CHANGELOG found.

Launch files

  • launch/lane_departure_checker.launch.xml
      • input/odometry [default: /localization/kinematic_state]
      • input/lanelet_map_bin [default: /map/vector_map]
      • input/route [default: /planning/mission_planning/route]
      • input/reference_trajectory [default: /planning/scenario_planning/trajectory]
      • input/predicted_trajectory [default: /control/trajectory_follower/predicted_trajectory]
      • config_file [default: $(find-pkg-share lane_departure_checker)/config/lane_departure_checker.param.yaml]
      • vehicle_info_param_file [default: $(find-pkg-share vehicle_info_util)/config/vehicle_info.param.yaml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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lane_departure_checker package from autodrrt repo

autonomous_emergency_braking control_performance_analysis control_validator external_cmd_selector joy_controller lane_departure_checker mpc_lateral_controller obstacle_collision_checker operation_mode_transition_manager pid_longitudinal_controller predicted_path_checker pure_pursuit shift_decider trajectory_follower_base trajectory_follower_node vehicle_cmd_gate diagnostic_converter kinematic_evaluator localization_evaluator planning_evaluator ekf_localizer geo_pose_projector gyro_odometer ar_tag_based_localizer landmark_manager localization_error_monitor localization_gnss localization_util ndt_scan_matcher pose2twist pose_initializer pose_instability_detector stop_filter tree_structured_parzen_estimator twist2accel yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer map_height_fitter map_loader map_projection_loader map_tf_generator lanelet2_map_preprocessor ros2_bevdet bytetrack cluster_merger compare_map_segmentation crosswalk_traffic_light_estimator detected_object_feature_remover detected_object_validation detection_by_tracker elevation_map_loader euclidean_cluster front_vehicle_velocity_estimator ground_segmentation heatmap_visualizer image_projection_based_fusion lidar_apollo_instance_segmentation lidar_apollo_segmentation_tvm lidar_apollo_segmentation_tvm_nodes lidar_centerpoint lidar_centerpoint_tvm map_based_prediction multi_object_tracker object_merger object_range_splitter object_velocity_splitter occupancy_grid_map_outlier_filter probabilistic_occupancy_grid_map radar_crossing_objects_noise_filter radar_fusion_to_detected_object radar_object_clustering radar_object_tracker radar_tracks_msgs_converter shape_estimation simple_object_merger tensorrt_classifier tensorrt_yolo tensorrt_yolox tracking_object_merger traffic_light_arbiter traffic_light_classifier traffic_light_fine_detector traffic_light_map_based_detector traffic_light_multi_camera_fusion traffic_light_occlusion_predictor traffic_light_ssd_fine_detector traffic_light_visualization behavior_path_avoidance_by_lane_change_module behavior_path_avoidance_module behavior_path_external_request_lane_change_module behavior_path_goal_planner_module behavior_path_lane_change_module behavior_path_planner behavior_path_planner_common behavior_path_side_shift_module behavior_path_start_planner_module behavior_velocity_blind_spot_module behavior_velocity_crosswalk_module behavior_velocity_detection_area_module behavior_velocity_intersection_module behavior_velocity_no_drivable_lane_module behavior_velocity_no_stopping_area_module behavior_velocity_occlusion_spot_module behavior_velocity_out_of_lane_module behavior_velocity_planner behavior_velocity_planner_common behavior_velocity_run_out_module behavior_velocity_speed_bump_module behavior_velocity_stop_line_module behavior_velocity_template_module behavior_velocity_traffic_light_module behavior_velocity_virtual_traffic_light_module behavior_velocity_walkway_module costmap_generator external_velocity_limit_selector freespace_planner freespace_planning_algorithms mission_planner motion_velocity_smoother objects_of_interest_marker_interface obstacle_avoidance_planner obstacle_cruise_planner obstacle_stop_planner obstacle_velocity_limiter path_smoother planning_debug_tools planning_test_utils planning_topic_converter planning_validator route_handler rtc_interface rtc_replayer bezier_sampler frenet_planner path_sampler sampler_common scenario_selector static_centerline_optimizer surround_obstacle_checker gnss_poser image_diagnostics image_transport_decompressor imu_corrector livox_tag_filter pointcloud_preprocessor radar_scan_to_pointcloud2 radar_static_pointcloud_filter radar_threshold_filter radar_tracks_noise_filter tier4_pcl_extensions vehicle_velocity_converter autoware_auto_msgs_adapter bluetooth_monitor component_state_monitor default_ad_api ad_api_adaptors ad_api_visualizers automatic_pose_initializer diagnostic_graph_aggregator dummy_diag_publisher dummy_infrastructure duplicated_node_checker emergency_handler mrm_comfortable_stop_operator mrm_emergency_stop_operator system_error_monitor system_monitor topic_state_monitor velodyne_monitor accel_brake_map_calibrator external_cmd_converter raw_vehicle_cmd_converter steer_offset_estimator vehicle_info_util launch loop_sim ssh_machine gpudirect-dds autoware_ad_api_specs autoware_adapi_v1_msgs autoware_adapi_version_msgs autoware_auto_common autoware_auto_geometry autoware_auto_control_msgs autoware_auto_geometry_msgs autoware_auto_mapping_msgs autoware_auto_msgs autoware_auto_perception_msgs autoware_auto_planning_msgs autoware_auto_system_msgs autoware_auto_vehicle_msgs autoware_auto_perception_rviz_plugin autoware_auto_tf2 autoware_cmake autoware_lint_common autoware_utils lanelet2_extension autoware_common_msgs autoware_control_msgs autoware_localization_msgs autoware_map_msgs autoware_perception_msgs autoware_planning_msgs autoware_sensing_msgs autoware_system_msgs autoware_vehicle_msgs autoware_point_types autoware_testing bag_time_manager_rviz_plugin component_interface_specs component_interface_tools component_interface_utils cuda_utils fake_test_node geography_utils global_parameter_loader glog_component goal_distance_calculator grid_map_utils interpolation kalman_filter motion_utils object_recognition_utils osqp_interface path_distance_calculator perception_utils polar_grid qp_interface rtc_manager_rviz_plugin signal_processing tensorrt_common tier4_adapi_rviz_plugin tier4_api_utils tier4_automatic_goal_rviz_plugin tier4_autoware_utils tier4_calibration_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_rviz_plugin tier4_datetime_rviz_plugin tier4_debug_rviz_plugin tier4_debug_tools tier4_localization_rviz_plugin tier4_perception_rviz_plugin tier4_planning_rviz_plugin tier4_screen_capture_rviz_plugin tier4_simulated_clock_rviz_plugin tier4_state_rviz_plugin tier4_system_rviz_plugin tier4_target_object_type_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin time_utils simulator_compatibility_test traffic_light_recognition_marker_publisher traffic_light_utils tvm_utility dma_customer_msg dma_transfer eagleye_coordinate eagleye_navigation eagleye_msgs eagleye_rt eagleye_can_velocity_converter eagleye_fix2kml eagleye_geo_pose_converter eagleye_geo_pose_fusion eagleye_gnss_converter eagleye_tf llh_converter morai_msgs mussp ndt_omp orocos_kdl python_orocos_kdl pointcloud_to_laserscan rtklib_bridge rtklib_msgs autoware_external_api_msgs autoware_iv_external_api_adaptor autoware_iv_internal_api_adaptor awapi_awiv_adapter tier4_api_msgs tier4_auto_msgs_converter tier4_control_msgs tier4_debug_msgs tier4_external_api_msgs tier4_hmi_msgs tier4_localization_msgs tier4_map_msgs tier4_perception_msgs tier4_planning_msgs tier4_rtc_msgs tier4_simulation_msgs tier4_system_msgs tier4_v2x_msgs tier4_vehicle_msgs tier4_autoware_api_launch tier4_control_launch tier4_localization_launch tier4_map_launch tier4_perception_launch tier4_planning_launch tier4_sensing_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch fastrtps cyclonedds lanelet2 lanelet2_core lanelet2_examples lanelet2_io lanelet2_maps lanelet2_matching lanelet2_projection lanelet2_python lanelet2_routing lanelet2_traffic_rules lanelet2_validation sophus angles behaviortree_cpp_v3 bond bond_core bondcpp bondpy smclib test_bond cudnn_cmake_module diagnostic_aggregator diagnostic_common_diagnostics diagnostic_updater diagnostics self_test filters geodesy geographic_info geographic_msgs grid_map grid_map_cmake_helpers grid_map_core grid_map_costmap_2d grid_map_cv grid_map_demos grid_map_filters grid_map_loader grid_map_msgs grid_map_octomap grid_map_pcl grid_map_ros grid_map_rviz_plugin grid_map_sdf grid_map_visualization mrt_cmake_modules nav2_amcl nav2_behavior_tree nav2_behaviors nav2_bringup nav2_bt_navigator nav2_collision_monitor nav2_common nav2_controller nav2_core nav2_costmap_2d costmap_queue dwb_core dwb_critics dwb_msgs dwb_plugins nav2_dwb_controller nav_2d_msgs nav_2d_utils nav2_lifecycle_manager nav2_map_server nav2_msgs nav2_navfn_planner nav2_planner nav2_regulated_pure_pursuit_controller nav2_rotation_shim_controller nav2_rviz_plugins nav2_simple_commander nav2_smac_planner nav2_smoother nav2_system_tests nav2_theta_star_planner nav2_util nav2_velocity_smoother nav2_voxel_grid nav2_waypoint_follower navigation2 dynamic_edt_3d octomap octovis octomap_msgs osqp_vendor pacmod3_msgs pcl_msgs pcl_conversions pcl_ros perception_pcl point_cloud_msg_wrapper radar_msgs can_msgs rqt_tf_tree tensorrt_cmake_module topic_tools topic_tools_interfaces tvm_vendor cv_bridge image_geometry opencv_tests vision_opencv xacro rviz2 rviz_assimp_vendor rviz_common rviz_default_plugins rviz_ogre_vendor rviz_rendering rviz_rendering_tests rviz_visual_testing_framework dummy_perception_publisher fault_injection simple_planning_simulator image_view v4l2_camera aion_interface carla_vehicle_can cgi430_can_driver cgi610_driver ARS408_driver common_sensor_launch kunyi_sensor_kit_description kunyi_sensor_kit_launch classformsg node_v2x data_format_dump data_preprocess_launch lidar_centerpoint_collect lidar_saver message_sync time_cal camera_calibration direct_visual_lidar_calibration multi_lidar_calibration

ROS Distro
github

API Docs
Browse Code

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

The lane_departure_checker package

Additional Links

No additional links.

Maintainers

  • Kyoichi Sugahara
  • Makoto Kurihara

Authors

No additional authors.
src/autodrrt.application/control/lane_departure_checker/README.md

Lane Departure Checker

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

Features

This package includes the following features:

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

Inner-workings / Algorithms

How to extend footprint by covariance

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

    1.Transform covariance into vehicle coordinate.

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

    Calculate covariance in vehicle coordinate.

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

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

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

Interface

Input

  • /localization/kinematic_state [nav_msgs::msg::Odometry]
  • /map/vector_map [autoware_auto_mapping_msgs::msg::HADMapBin]
  • /planning/mission_planning/route [autoware_planning_msgs::msg::LaneletRoute]
  • /planning/scenario_planning/trajectory [autoware_auto_planning_msgs::msg::Trajectory]
  • /control/trajectory_follower/predicted_trajectory [autoware_auto_planning_msgs::msg::Trajectory]

Output

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

Parameters

Node Parameters

General Parameters

Name Type Description Default value
will_out_of_lane_checker bool Enable checker whether ego vehicle footprint will depart from lane True
out_of_lane_checker bool Enable checker whether ego vehicle footprint is out of lane True
boundary_departure_checker bool Enable checker whether ego vehicle footprint wil depart from boundary specified by boundary_types_to_detect False
update_rate double Frequency for publishing [Hz] 10.0
visualize_lanelet bool Flag for visualizing lanelet False

Parameters For Lane Departure

Name Type Description Default value
include_right_lanes bool Flag for including right lanelet in borders False
include_left_lanes bool Flag for including left lanelet in borders False
include_opposite_lanes bool Flag for including opposite lanelet in borders False
include_conflicting_lanes bool Flag for including conflicting lanelet in borders False

Parameters For Road Border Departure

Name Type Description Default value
boundary_types_to_detect std::vector<std::string> line_string types to detect with boundary_departure_checker [road_border]

Core Parameters

Name Type Description Default value
footprint_margin_scale double Coefficient for expanding footprint margin. Multiplied by 1 standard deviation. 1.0
resample_interval double Minimum Euclidean distance between points when resample trajectory.[m] 0.3
max_deceleration double Maximum deceleration when calculating braking distance. 2.8
delay_time double Delay time which took to actuate brake when calculating braking distance. [second] 1.3
max_lateral_deviation double Maximum lateral deviation in vehicle coordinate. [m] 2.0
max_longitudinal_deviation double Maximum longitudinal deviation in vehicle coordinate. [m] 2.0

File truncated at 100 lines see the full file

CHANGELOG
No CHANGELOG found.

Launch files

  • launch/lane_departure_checker.launch.xml
      • input/odometry [default: /localization/kinematic_state]
      • input/lanelet_map_bin [default: /map/vector_map]
      • input/route [default: /planning/mission_planning/route]
      • input/reference_trajectory [default: /planning/scenario_planning/trajectory]
      • input/predicted_trajectory [default: /control/trajectory_follower/predicted_trajectory]
      • config_file [default: $(find-pkg-share lane_departure_checker)/config/lane_departure_checker.param.yaml]
      • vehicle_info_param_file [default: $(find-pkg-share vehicle_info_util)/config/vehicle_info.param.yaml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged lane_departure_checker at Robotics Stack Exchange

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

lane_departure_checker package from autodrrt repo

autonomous_emergency_braking control_performance_analysis control_validator external_cmd_selector joy_controller lane_departure_checker mpc_lateral_controller obstacle_collision_checker operation_mode_transition_manager pid_longitudinal_controller predicted_path_checker pure_pursuit shift_decider trajectory_follower_base trajectory_follower_node vehicle_cmd_gate diagnostic_converter kinematic_evaluator localization_evaluator planning_evaluator ekf_localizer geo_pose_projector gyro_odometer ar_tag_based_localizer landmark_manager localization_error_monitor localization_gnss localization_util ndt_scan_matcher pose2twist pose_initializer pose_instability_detector stop_filter tree_structured_parzen_estimator twist2accel yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer map_height_fitter map_loader map_projection_loader map_tf_generator lanelet2_map_preprocessor ros2_bevdet bytetrack cluster_merger compare_map_segmentation crosswalk_traffic_light_estimator detected_object_feature_remover detected_object_validation detection_by_tracker elevation_map_loader euclidean_cluster front_vehicle_velocity_estimator ground_segmentation heatmap_visualizer image_projection_based_fusion lidar_apollo_instance_segmentation lidar_apollo_segmentation_tvm lidar_apollo_segmentation_tvm_nodes lidar_centerpoint lidar_centerpoint_tvm map_based_prediction multi_object_tracker object_merger object_range_splitter object_velocity_splitter occupancy_grid_map_outlier_filter probabilistic_occupancy_grid_map radar_crossing_objects_noise_filter radar_fusion_to_detected_object radar_object_clustering radar_object_tracker radar_tracks_msgs_converter shape_estimation simple_object_merger tensorrt_classifier tensorrt_yolo tensorrt_yolox tracking_object_merger traffic_light_arbiter traffic_light_classifier traffic_light_fine_detector traffic_light_map_based_detector traffic_light_multi_camera_fusion traffic_light_occlusion_predictor traffic_light_ssd_fine_detector traffic_light_visualization behavior_path_avoidance_by_lane_change_module behavior_path_avoidance_module behavior_path_external_request_lane_change_module behavior_path_goal_planner_module behavior_path_lane_change_module behavior_path_planner behavior_path_planner_common behavior_path_side_shift_module behavior_path_start_planner_module behavior_velocity_blind_spot_module behavior_velocity_crosswalk_module behavior_velocity_detection_area_module behavior_velocity_intersection_module behavior_velocity_no_drivable_lane_module behavior_velocity_no_stopping_area_module behavior_velocity_occlusion_spot_module behavior_velocity_out_of_lane_module behavior_velocity_planner behavior_velocity_planner_common behavior_velocity_run_out_module behavior_velocity_speed_bump_module behavior_velocity_stop_line_module behavior_velocity_template_module behavior_velocity_traffic_light_module behavior_velocity_virtual_traffic_light_module behavior_velocity_walkway_module costmap_generator external_velocity_limit_selector freespace_planner freespace_planning_algorithms mission_planner motion_velocity_smoother objects_of_interest_marker_interface obstacle_avoidance_planner obstacle_cruise_planner obstacle_stop_planner obstacle_velocity_limiter path_smoother planning_debug_tools planning_test_utils planning_topic_converter planning_validator route_handler rtc_interface rtc_replayer bezier_sampler frenet_planner path_sampler sampler_common scenario_selector static_centerline_optimizer surround_obstacle_checker gnss_poser image_diagnostics image_transport_decompressor imu_corrector livox_tag_filter pointcloud_preprocessor radar_scan_to_pointcloud2 radar_static_pointcloud_filter radar_threshold_filter radar_tracks_noise_filter tier4_pcl_extensions vehicle_velocity_converter autoware_auto_msgs_adapter bluetooth_monitor component_state_monitor default_ad_api ad_api_adaptors ad_api_visualizers automatic_pose_initializer diagnostic_graph_aggregator dummy_diag_publisher dummy_infrastructure duplicated_node_checker emergency_handler mrm_comfortable_stop_operator mrm_emergency_stop_operator system_error_monitor system_monitor topic_state_monitor velodyne_monitor accel_brake_map_calibrator external_cmd_converter raw_vehicle_cmd_converter steer_offset_estimator vehicle_info_util launch loop_sim ssh_machine gpudirect-dds autoware_ad_api_specs autoware_adapi_v1_msgs autoware_adapi_version_msgs autoware_auto_common autoware_auto_geometry autoware_auto_control_msgs autoware_auto_geometry_msgs autoware_auto_mapping_msgs autoware_auto_msgs autoware_auto_perception_msgs autoware_auto_planning_msgs autoware_auto_system_msgs autoware_auto_vehicle_msgs autoware_auto_perception_rviz_plugin autoware_auto_tf2 autoware_cmake autoware_lint_common autoware_utils lanelet2_extension autoware_common_msgs autoware_control_msgs autoware_localization_msgs autoware_map_msgs autoware_perception_msgs autoware_planning_msgs autoware_sensing_msgs autoware_system_msgs autoware_vehicle_msgs autoware_point_types autoware_testing bag_time_manager_rviz_plugin component_interface_specs component_interface_tools component_interface_utils cuda_utils fake_test_node geography_utils global_parameter_loader glog_component goal_distance_calculator grid_map_utils interpolation kalman_filter motion_utils object_recognition_utils osqp_interface path_distance_calculator perception_utils polar_grid qp_interface rtc_manager_rviz_plugin signal_processing tensorrt_common tier4_adapi_rviz_plugin tier4_api_utils tier4_automatic_goal_rviz_plugin tier4_autoware_utils tier4_calibration_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_rviz_plugin tier4_datetime_rviz_plugin tier4_debug_rviz_plugin tier4_debug_tools tier4_localization_rviz_plugin tier4_perception_rviz_plugin tier4_planning_rviz_plugin tier4_screen_capture_rviz_plugin tier4_simulated_clock_rviz_plugin tier4_state_rviz_plugin tier4_system_rviz_plugin tier4_target_object_type_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin time_utils simulator_compatibility_test traffic_light_recognition_marker_publisher traffic_light_utils tvm_utility dma_customer_msg dma_transfer eagleye_coordinate eagleye_navigation eagleye_msgs eagleye_rt eagleye_can_velocity_converter eagleye_fix2kml eagleye_geo_pose_converter eagleye_geo_pose_fusion eagleye_gnss_converter eagleye_tf llh_converter morai_msgs mussp ndt_omp orocos_kdl python_orocos_kdl pointcloud_to_laserscan rtklib_bridge rtklib_msgs autoware_external_api_msgs autoware_iv_external_api_adaptor autoware_iv_internal_api_adaptor awapi_awiv_adapter tier4_api_msgs tier4_auto_msgs_converter tier4_control_msgs tier4_debug_msgs tier4_external_api_msgs tier4_hmi_msgs tier4_localization_msgs tier4_map_msgs tier4_perception_msgs tier4_planning_msgs tier4_rtc_msgs tier4_simulation_msgs tier4_system_msgs tier4_v2x_msgs tier4_vehicle_msgs tier4_autoware_api_launch tier4_control_launch tier4_localization_launch tier4_map_launch tier4_perception_launch tier4_planning_launch tier4_sensing_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch fastrtps cyclonedds lanelet2 lanelet2_core lanelet2_examples lanelet2_io lanelet2_maps lanelet2_matching lanelet2_projection lanelet2_python lanelet2_routing lanelet2_traffic_rules lanelet2_validation sophus angles behaviortree_cpp_v3 bond bond_core bondcpp bondpy smclib test_bond cudnn_cmake_module diagnostic_aggregator diagnostic_common_diagnostics diagnostic_updater diagnostics self_test filters geodesy geographic_info geographic_msgs grid_map grid_map_cmake_helpers grid_map_core grid_map_costmap_2d grid_map_cv grid_map_demos grid_map_filters grid_map_loader grid_map_msgs grid_map_octomap grid_map_pcl grid_map_ros grid_map_rviz_plugin grid_map_sdf grid_map_visualization mrt_cmake_modules nav2_amcl nav2_behavior_tree nav2_behaviors nav2_bringup nav2_bt_navigator nav2_collision_monitor nav2_common nav2_controller nav2_core nav2_costmap_2d costmap_queue dwb_core dwb_critics dwb_msgs dwb_plugins nav2_dwb_controller nav_2d_msgs nav_2d_utils nav2_lifecycle_manager nav2_map_server nav2_msgs nav2_navfn_planner nav2_planner nav2_regulated_pure_pursuit_controller nav2_rotation_shim_controller nav2_rviz_plugins nav2_simple_commander nav2_smac_planner nav2_smoother nav2_system_tests nav2_theta_star_planner nav2_util nav2_velocity_smoother nav2_voxel_grid nav2_waypoint_follower navigation2 dynamic_edt_3d octomap octovis octomap_msgs osqp_vendor pacmod3_msgs pcl_msgs pcl_conversions pcl_ros perception_pcl point_cloud_msg_wrapper radar_msgs can_msgs rqt_tf_tree tensorrt_cmake_module topic_tools topic_tools_interfaces tvm_vendor cv_bridge image_geometry opencv_tests vision_opencv xacro rviz2 rviz_assimp_vendor rviz_common rviz_default_plugins rviz_ogre_vendor rviz_rendering rviz_rendering_tests rviz_visual_testing_framework dummy_perception_publisher fault_injection simple_planning_simulator image_view v4l2_camera aion_interface carla_vehicle_can cgi430_can_driver cgi610_driver ARS408_driver common_sensor_launch kunyi_sensor_kit_description kunyi_sensor_kit_launch classformsg node_v2x data_format_dump data_preprocess_launch lidar_centerpoint_collect lidar_saver message_sync time_cal camera_calibration direct_visual_lidar_calibration multi_lidar_calibration

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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

The lane_departure_checker package

Additional Links

No additional links.

Maintainers

  • Kyoichi Sugahara
  • Makoto Kurihara

Authors

No additional authors.
src/autodrrt.application/control/lane_departure_checker/README.md

Lane Departure Checker

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

Features

This package includes the following features:

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

Inner-workings / Algorithms

How to extend footprint by covariance

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

    1.Transform covariance into vehicle coordinate.

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

    Calculate covariance in vehicle coordinate.

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

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

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

Interface

Input

  • /localization/kinematic_state [nav_msgs::msg::Odometry]
  • /map/vector_map [autoware_auto_mapping_msgs::msg::HADMapBin]
  • /planning/mission_planning/route [autoware_planning_msgs::msg::LaneletRoute]
  • /planning/scenario_planning/trajectory [autoware_auto_planning_msgs::msg::Trajectory]
  • /control/trajectory_follower/predicted_trajectory [autoware_auto_planning_msgs::msg::Trajectory]

Output

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

Parameters

Node Parameters

General Parameters

Name Type Description Default value
will_out_of_lane_checker bool Enable checker whether ego vehicle footprint will depart from lane True
out_of_lane_checker bool Enable checker whether ego vehicle footprint is out of lane True
boundary_departure_checker bool Enable checker whether ego vehicle footprint wil depart from boundary specified by boundary_types_to_detect False
update_rate double Frequency for publishing [Hz] 10.0
visualize_lanelet bool Flag for visualizing lanelet False

Parameters For Lane Departure

Name Type Description Default value
include_right_lanes bool Flag for including right lanelet in borders False
include_left_lanes bool Flag for including left lanelet in borders False
include_opposite_lanes bool Flag for including opposite lanelet in borders False
include_conflicting_lanes bool Flag for including conflicting lanelet in borders False

Parameters For Road Border Departure

Name Type Description Default value
boundary_types_to_detect std::vector<std::string> line_string types to detect with boundary_departure_checker [road_border]

Core Parameters

Name Type Description Default value
footprint_margin_scale double Coefficient for expanding footprint margin. Multiplied by 1 standard deviation. 1.0
resample_interval double Minimum Euclidean distance between points when resample trajectory.[m] 0.3
max_deceleration double Maximum deceleration when calculating braking distance. 2.8
delay_time double Delay time which took to actuate brake when calculating braking distance. [second] 1.3
max_lateral_deviation double Maximum lateral deviation in vehicle coordinate. [m] 2.0
max_longitudinal_deviation double Maximum longitudinal deviation in vehicle coordinate. [m] 2.0

File truncated at 100 lines see the full file

CHANGELOG
No CHANGELOG found.

Launch files

  • launch/lane_departure_checker.launch.xml
      • input/odometry [default: /localization/kinematic_state]
      • input/lanelet_map_bin [default: /map/vector_map]
      • input/route [default: /planning/mission_planning/route]
      • input/reference_trajectory [default: /planning/scenario_planning/trajectory]
      • input/predicted_trajectory [default: /control/trajectory_follower/predicted_trajectory]
      • config_file [default: $(find-pkg-share lane_departure_checker)/config/lane_departure_checker.param.yaml]
      • vehicle_info_param_file [default: $(find-pkg-share vehicle_info_util)/config/vehicle_info.param.yaml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged lane_departure_checker at Robotics Stack Exchange

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

lane_departure_checker package from autodrrt repo

autonomous_emergency_braking control_performance_analysis control_validator external_cmd_selector joy_controller lane_departure_checker mpc_lateral_controller obstacle_collision_checker operation_mode_transition_manager pid_longitudinal_controller predicted_path_checker pure_pursuit shift_decider trajectory_follower_base trajectory_follower_node vehicle_cmd_gate diagnostic_converter kinematic_evaluator localization_evaluator planning_evaluator ekf_localizer geo_pose_projector gyro_odometer ar_tag_based_localizer landmark_manager localization_error_monitor localization_gnss localization_util ndt_scan_matcher pose2twist pose_initializer pose_instability_detector stop_filter tree_structured_parzen_estimator twist2accel yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer map_height_fitter map_loader map_projection_loader map_tf_generator lanelet2_map_preprocessor ros2_bevdet bytetrack cluster_merger compare_map_segmentation crosswalk_traffic_light_estimator detected_object_feature_remover detected_object_validation detection_by_tracker elevation_map_loader euclidean_cluster front_vehicle_velocity_estimator ground_segmentation heatmap_visualizer image_projection_based_fusion lidar_apollo_instance_segmentation lidar_apollo_segmentation_tvm lidar_apollo_segmentation_tvm_nodes lidar_centerpoint lidar_centerpoint_tvm map_based_prediction multi_object_tracker object_merger object_range_splitter object_velocity_splitter occupancy_grid_map_outlier_filter probabilistic_occupancy_grid_map radar_crossing_objects_noise_filter radar_fusion_to_detected_object radar_object_clustering radar_object_tracker radar_tracks_msgs_converter shape_estimation simple_object_merger tensorrt_classifier tensorrt_yolo tensorrt_yolox tracking_object_merger traffic_light_arbiter traffic_light_classifier traffic_light_fine_detector traffic_light_map_based_detector traffic_light_multi_camera_fusion traffic_light_occlusion_predictor traffic_light_ssd_fine_detector traffic_light_visualization behavior_path_avoidance_by_lane_change_module behavior_path_avoidance_module behavior_path_external_request_lane_change_module behavior_path_goal_planner_module behavior_path_lane_change_module behavior_path_planner behavior_path_planner_common behavior_path_side_shift_module behavior_path_start_planner_module behavior_velocity_blind_spot_module behavior_velocity_crosswalk_module behavior_velocity_detection_area_module behavior_velocity_intersection_module behavior_velocity_no_drivable_lane_module behavior_velocity_no_stopping_area_module behavior_velocity_occlusion_spot_module behavior_velocity_out_of_lane_module behavior_velocity_planner behavior_velocity_planner_common behavior_velocity_run_out_module behavior_velocity_speed_bump_module behavior_velocity_stop_line_module behavior_velocity_template_module behavior_velocity_traffic_light_module behavior_velocity_virtual_traffic_light_module behavior_velocity_walkway_module costmap_generator external_velocity_limit_selector freespace_planner freespace_planning_algorithms mission_planner motion_velocity_smoother objects_of_interest_marker_interface obstacle_avoidance_planner obstacle_cruise_planner obstacle_stop_planner obstacle_velocity_limiter path_smoother planning_debug_tools planning_test_utils planning_topic_converter planning_validator route_handler rtc_interface rtc_replayer bezier_sampler frenet_planner path_sampler sampler_common scenario_selector static_centerline_optimizer surround_obstacle_checker gnss_poser image_diagnostics image_transport_decompressor imu_corrector livox_tag_filter pointcloud_preprocessor radar_scan_to_pointcloud2 radar_static_pointcloud_filter radar_threshold_filter radar_tracks_noise_filter tier4_pcl_extensions vehicle_velocity_converter autoware_auto_msgs_adapter bluetooth_monitor component_state_monitor default_ad_api ad_api_adaptors ad_api_visualizers automatic_pose_initializer diagnostic_graph_aggregator dummy_diag_publisher dummy_infrastructure duplicated_node_checker emergency_handler mrm_comfortable_stop_operator mrm_emergency_stop_operator system_error_monitor system_monitor topic_state_monitor velodyne_monitor accel_brake_map_calibrator external_cmd_converter raw_vehicle_cmd_converter steer_offset_estimator vehicle_info_util launch loop_sim ssh_machine gpudirect-dds autoware_ad_api_specs autoware_adapi_v1_msgs autoware_adapi_version_msgs autoware_auto_common autoware_auto_geometry autoware_auto_control_msgs autoware_auto_geometry_msgs autoware_auto_mapping_msgs autoware_auto_msgs autoware_auto_perception_msgs autoware_auto_planning_msgs autoware_auto_system_msgs autoware_auto_vehicle_msgs autoware_auto_perception_rviz_plugin autoware_auto_tf2 autoware_cmake autoware_lint_common autoware_utils lanelet2_extension autoware_common_msgs autoware_control_msgs autoware_localization_msgs autoware_map_msgs autoware_perception_msgs autoware_planning_msgs autoware_sensing_msgs autoware_system_msgs autoware_vehicle_msgs autoware_point_types autoware_testing bag_time_manager_rviz_plugin component_interface_specs component_interface_tools component_interface_utils cuda_utils fake_test_node geography_utils global_parameter_loader glog_component goal_distance_calculator grid_map_utils interpolation kalman_filter motion_utils object_recognition_utils osqp_interface path_distance_calculator perception_utils polar_grid qp_interface rtc_manager_rviz_plugin signal_processing tensorrt_common tier4_adapi_rviz_plugin tier4_api_utils tier4_automatic_goal_rviz_plugin tier4_autoware_utils tier4_calibration_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_rviz_plugin tier4_datetime_rviz_plugin tier4_debug_rviz_plugin tier4_debug_tools tier4_localization_rviz_plugin tier4_perception_rviz_plugin tier4_planning_rviz_plugin tier4_screen_capture_rviz_plugin tier4_simulated_clock_rviz_plugin tier4_state_rviz_plugin tier4_system_rviz_plugin tier4_target_object_type_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin time_utils simulator_compatibility_test traffic_light_recognition_marker_publisher traffic_light_utils tvm_utility dma_customer_msg dma_transfer eagleye_coordinate eagleye_navigation eagleye_msgs eagleye_rt eagleye_can_velocity_converter eagleye_fix2kml eagleye_geo_pose_converter eagleye_geo_pose_fusion eagleye_gnss_converter eagleye_tf llh_converter morai_msgs mussp ndt_omp orocos_kdl python_orocos_kdl pointcloud_to_laserscan rtklib_bridge rtklib_msgs autoware_external_api_msgs autoware_iv_external_api_adaptor autoware_iv_internal_api_adaptor awapi_awiv_adapter tier4_api_msgs tier4_auto_msgs_converter tier4_control_msgs tier4_debug_msgs tier4_external_api_msgs tier4_hmi_msgs tier4_localization_msgs tier4_map_msgs tier4_perception_msgs tier4_planning_msgs tier4_rtc_msgs tier4_simulation_msgs tier4_system_msgs tier4_v2x_msgs tier4_vehicle_msgs tier4_autoware_api_launch tier4_control_launch tier4_localization_launch tier4_map_launch tier4_perception_launch tier4_planning_launch tier4_sensing_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch fastrtps cyclonedds lanelet2 lanelet2_core lanelet2_examples lanelet2_io lanelet2_maps lanelet2_matching lanelet2_projection lanelet2_python lanelet2_routing lanelet2_traffic_rules lanelet2_validation sophus angles behaviortree_cpp_v3 bond bond_core bondcpp bondpy smclib test_bond cudnn_cmake_module diagnostic_aggregator diagnostic_common_diagnostics diagnostic_updater diagnostics self_test filters geodesy geographic_info geographic_msgs grid_map grid_map_cmake_helpers grid_map_core grid_map_costmap_2d grid_map_cv grid_map_demos grid_map_filters grid_map_loader grid_map_msgs grid_map_octomap grid_map_pcl grid_map_ros grid_map_rviz_plugin grid_map_sdf grid_map_visualization mrt_cmake_modules nav2_amcl nav2_behavior_tree nav2_behaviors nav2_bringup nav2_bt_navigator nav2_collision_monitor nav2_common nav2_controller nav2_core nav2_costmap_2d costmap_queue dwb_core dwb_critics dwb_msgs dwb_plugins nav2_dwb_controller nav_2d_msgs nav_2d_utils nav2_lifecycle_manager nav2_map_server nav2_msgs nav2_navfn_planner nav2_planner nav2_regulated_pure_pursuit_controller nav2_rotation_shim_controller nav2_rviz_plugins nav2_simple_commander nav2_smac_planner nav2_smoother nav2_system_tests nav2_theta_star_planner nav2_util nav2_velocity_smoother nav2_voxel_grid nav2_waypoint_follower navigation2 dynamic_edt_3d octomap octovis octomap_msgs osqp_vendor pacmod3_msgs pcl_msgs pcl_conversions pcl_ros perception_pcl point_cloud_msg_wrapper radar_msgs can_msgs rqt_tf_tree tensorrt_cmake_module topic_tools topic_tools_interfaces tvm_vendor cv_bridge image_geometry opencv_tests vision_opencv xacro rviz2 rviz_assimp_vendor rviz_common rviz_default_plugins rviz_ogre_vendor rviz_rendering rviz_rendering_tests rviz_visual_testing_framework dummy_perception_publisher fault_injection simple_planning_simulator image_view v4l2_camera aion_interface carla_vehicle_can cgi430_can_driver cgi610_driver ARS408_driver common_sensor_launch kunyi_sensor_kit_description kunyi_sensor_kit_launch classformsg node_v2x data_format_dump data_preprocess_launch lidar_centerpoint_collect lidar_saver message_sync time_cal camera_calibration direct_visual_lidar_calibration multi_lidar_calibration

ROS Distro
github

API Docs
Browse Code

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

The lane_departure_checker package

Additional Links

No additional links.

Maintainers

  • Kyoichi Sugahara
  • Makoto Kurihara

Authors

No additional authors.
src/autodrrt.application/control/lane_departure_checker/README.md

Lane Departure Checker

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

Features

This package includes the following features:

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

Inner-workings / Algorithms

How to extend footprint by covariance

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

    1.Transform covariance into vehicle coordinate.

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

    Calculate covariance in vehicle coordinate.

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

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

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

Interface

Input

  • /localization/kinematic_state [nav_msgs::msg::Odometry]
  • /map/vector_map [autoware_auto_mapping_msgs::msg::HADMapBin]
  • /planning/mission_planning/route [autoware_planning_msgs::msg::LaneletRoute]
  • /planning/scenario_planning/trajectory [autoware_auto_planning_msgs::msg::Trajectory]
  • /control/trajectory_follower/predicted_trajectory [autoware_auto_planning_msgs::msg::Trajectory]

Output

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

Parameters

Node Parameters

General Parameters

Name Type Description Default value
will_out_of_lane_checker bool Enable checker whether ego vehicle footprint will depart from lane True
out_of_lane_checker bool Enable checker whether ego vehicle footprint is out of lane True
boundary_departure_checker bool Enable checker whether ego vehicle footprint wil depart from boundary specified by boundary_types_to_detect False
update_rate double Frequency for publishing [Hz] 10.0
visualize_lanelet bool Flag for visualizing lanelet False

Parameters For Lane Departure

Name Type Description Default value
include_right_lanes bool Flag for including right lanelet in borders False
include_left_lanes bool Flag for including left lanelet in borders False
include_opposite_lanes bool Flag for including opposite lanelet in borders False
include_conflicting_lanes bool Flag for including conflicting lanelet in borders False

Parameters For Road Border Departure

Name Type Description Default value
boundary_types_to_detect std::vector<std::string> line_string types to detect with boundary_departure_checker [road_border]

Core Parameters

Name Type Description Default value
footprint_margin_scale double Coefficient for expanding footprint margin. Multiplied by 1 standard deviation. 1.0
resample_interval double Minimum Euclidean distance between points when resample trajectory.[m] 0.3
max_deceleration double Maximum deceleration when calculating braking distance. 2.8
delay_time double Delay time which took to actuate brake when calculating braking distance. [second] 1.3
max_lateral_deviation double Maximum lateral deviation in vehicle coordinate. [m] 2.0
max_longitudinal_deviation double Maximum longitudinal deviation in vehicle coordinate. [m] 2.0

File truncated at 100 lines see the full file

CHANGELOG
No CHANGELOG found.

Launch files

  • launch/lane_departure_checker.launch.xml
      • input/odometry [default: /localization/kinematic_state]
      • input/lanelet_map_bin [default: /map/vector_map]
      • input/route [default: /planning/mission_planning/route]
      • input/reference_trajectory [default: /planning/scenario_planning/trajectory]
      • input/predicted_trajectory [default: /control/trajectory_follower/predicted_trajectory]
      • config_file [default: $(find-pkg-share lane_departure_checker)/config/lane_departure_checker.param.yaml]
      • vehicle_info_param_file [default: $(find-pkg-share vehicle_info_util)/config/vehicle_info.param.yaml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged lane_departure_checker at Robotics Stack Exchange

Package symbol

lane_departure_checker package from autodrrt repo

autonomous_emergency_braking control_performance_analysis control_validator external_cmd_selector joy_controller lane_departure_checker mpc_lateral_controller obstacle_collision_checker operation_mode_transition_manager pid_longitudinal_controller predicted_path_checker pure_pursuit shift_decider trajectory_follower_base trajectory_follower_node vehicle_cmd_gate diagnostic_converter kinematic_evaluator localization_evaluator planning_evaluator ekf_localizer geo_pose_projector gyro_odometer ar_tag_based_localizer landmark_manager localization_error_monitor localization_gnss localization_util ndt_scan_matcher pose2twist pose_initializer pose_instability_detector stop_filter tree_structured_parzen_estimator twist2accel yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer map_height_fitter map_loader map_projection_loader map_tf_generator lanelet2_map_preprocessor ros2_bevdet bytetrack cluster_merger compare_map_segmentation crosswalk_traffic_light_estimator detected_object_feature_remover detected_object_validation detection_by_tracker elevation_map_loader euclidean_cluster front_vehicle_velocity_estimator ground_segmentation heatmap_visualizer image_projection_based_fusion lidar_apollo_instance_segmentation lidar_apollo_segmentation_tvm lidar_apollo_segmentation_tvm_nodes lidar_centerpoint lidar_centerpoint_tvm map_based_prediction multi_object_tracker object_merger object_range_splitter object_velocity_splitter occupancy_grid_map_outlier_filter probabilistic_occupancy_grid_map radar_crossing_objects_noise_filter radar_fusion_to_detected_object radar_object_clustering radar_object_tracker radar_tracks_msgs_converter shape_estimation simple_object_merger tensorrt_classifier tensorrt_yolo tensorrt_yolox tracking_object_merger traffic_light_arbiter traffic_light_classifier traffic_light_fine_detector traffic_light_map_based_detector traffic_light_multi_camera_fusion traffic_light_occlusion_predictor traffic_light_ssd_fine_detector traffic_light_visualization behavior_path_avoidance_by_lane_change_module behavior_path_avoidance_module behavior_path_external_request_lane_change_module behavior_path_goal_planner_module behavior_path_lane_change_module behavior_path_planner behavior_path_planner_common behavior_path_side_shift_module behavior_path_start_planner_module behavior_velocity_blind_spot_module behavior_velocity_crosswalk_module behavior_velocity_detection_area_module behavior_velocity_intersection_module behavior_velocity_no_drivable_lane_module behavior_velocity_no_stopping_area_module behavior_velocity_occlusion_spot_module behavior_velocity_out_of_lane_module behavior_velocity_planner behavior_velocity_planner_common behavior_velocity_run_out_module behavior_velocity_speed_bump_module behavior_velocity_stop_line_module behavior_velocity_template_module behavior_velocity_traffic_light_module behavior_velocity_virtual_traffic_light_module behavior_velocity_walkway_module costmap_generator external_velocity_limit_selector freespace_planner freespace_planning_algorithms mission_planner motion_velocity_smoother objects_of_interest_marker_interface obstacle_avoidance_planner obstacle_cruise_planner obstacle_stop_planner obstacle_velocity_limiter path_smoother planning_debug_tools planning_test_utils planning_topic_converter planning_validator route_handler rtc_interface rtc_replayer bezier_sampler frenet_planner path_sampler sampler_common scenario_selector static_centerline_optimizer surround_obstacle_checker gnss_poser image_diagnostics image_transport_decompressor imu_corrector livox_tag_filter pointcloud_preprocessor radar_scan_to_pointcloud2 radar_static_pointcloud_filter radar_threshold_filter radar_tracks_noise_filter tier4_pcl_extensions vehicle_velocity_converter autoware_auto_msgs_adapter bluetooth_monitor component_state_monitor default_ad_api ad_api_adaptors ad_api_visualizers automatic_pose_initializer diagnostic_graph_aggregator dummy_diag_publisher dummy_infrastructure duplicated_node_checker emergency_handler mrm_comfortable_stop_operator mrm_emergency_stop_operator system_error_monitor system_monitor topic_state_monitor velodyne_monitor accel_brake_map_calibrator external_cmd_converter raw_vehicle_cmd_converter steer_offset_estimator vehicle_info_util launch loop_sim ssh_machine gpudirect-dds autoware_ad_api_specs autoware_adapi_v1_msgs autoware_adapi_version_msgs autoware_auto_common autoware_auto_geometry autoware_auto_control_msgs autoware_auto_geometry_msgs autoware_auto_mapping_msgs autoware_auto_msgs autoware_auto_perception_msgs autoware_auto_planning_msgs autoware_auto_system_msgs autoware_auto_vehicle_msgs autoware_auto_perception_rviz_plugin autoware_auto_tf2 autoware_cmake autoware_lint_common autoware_utils lanelet2_extension autoware_common_msgs autoware_control_msgs autoware_localization_msgs autoware_map_msgs autoware_perception_msgs autoware_planning_msgs autoware_sensing_msgs autoware_system_msgs autoware_vehicle_msgs autoware_point_types autoware_testing bag_time_manager_rviz_plugin component_interface_specs component_interface_tools component_interface_utils cuda_utils fake_test_node geography_utils global_parameter_loader glog_component goal_distance_calculator grid_map_utils interpolation kalman_filter motion_utils object_recognition_utils osqp_interface path_distance_calculator perception_utils polar_grid qp_interface rtc_manager_rviz_plugin signal_processing tensorrt_common tier4_adapi_rviz_plugin tier4_api_utils tier4_automatic_goal_rviz_plugin tier4_autoware_utils tier4_calibration_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_rviz_plugin tier4_datetime_rviz_plugin tier4_debug_rviz_plugin tier4_debug_tools tier4_localization_rviz_plugin tier4_perception_rviz_plugin tier4_planning_rviz_plugin tier4_screen_capture_rviz_plugin tier4_simulated_clock_rviz_plugin tier4_state_rviz_plugin tier4_system_rviz_plugin tier4_target_object_type_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin time_utils simulator_compatibility_test traffic_light_recognition_marker_publisher traffic_light_utils tvm_utility dma_customer_msg dma_transfer eagleye_coordinate eagleye_navigation eagleye_msgs eagleye_rt eagleye_can_velocity_converter eagleye_fix2kml eagleye_geo_pose_converter eagleye_geo_pose_fusion eagleye_gnss_converter eagleye_tf llh_converter morai_msgs mussp ndt_omp orocos_kdl python_orocos_kdl pointcloud_to_laserscan rtklib_bridge rtklib_msgs autoware_external_api_msgs autoware_iv_external_api_adaptor autoware_iv_internal_api_adaptor awapi_awiv_adapter tier4_api_msgs tier4_auto_msgs_converter tier4_control_msgs tier4_debug_msgs tier4_external_api_msgs tier4_hmi_msgs tier4_localization_msgs tier4_map_msgs tier4_perception_msgs tier4_planning_msgs tier4_rtc_msgs tier4_simulation_msgs tier4_system_msgs tier4_v2x_msgs tier4_vehicle_msgs tier4_autoware_api_launch tier4_control_launch tier4_localization_launch tier4_map_launch tier4_perception_launch tier4_planning_launch tier4_sensing_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch fastrtps cyclonedds lanelet2 lanelet2_core lanelet2_examples lanelet2_io lanelet2_maps lanelet2_matching lanelet2_projection lanelet2_python lanelet2_routing lanelet2_traffic_rules lanelet2_validation sophus angles behaviortree_cpp_v3 bond bond_core bondcpp bondpy smclib test_bond cudnn_cmake_module diagnostic_aggregator diagnostic_common_diagnostics diagnostic_updater diagnostics self_test filters geodesy geographic_info geographic_msgs grid_map grid_map_cmake_helpers grid_map_core grid_map_costmap_2d grid_map_cv grid_map_demos grid_map_filters grid_map_loader grid_map_msgs grid_map_octomap grid_map_pcl grid_map_ros grid_map_rviz_plugin grid_map_sdf grid_map_visualization mrt_cmake_modules nav2_amcl nav2_behavior_tree nav2_behaviors nav2_bringup nav2_bt_navigator nav2_collision_monitor nav2_common nav2_controller nav2_core nav2_costmap_2d costmap_queue dwb_core dwb_critics dwb_msgs dwb_plugins nav2_dwb_controller nav_2d_msgs nav_2d_utils nav2_lifecycle_manager nav2_map_server nav2_msgs nav2_navfn_planner nav2_planner nav2_regulated_pure_pursuit_controller nav2_rotation_shim_controller nav2_rviz_plugins nav2_simple_commander nav2_smac_planner nav2_smoother nav2_system_tests nav2_theta_star_planner nav2_util nav2_velocity_smoother nav2_voxel_grid nav2_waypoint_follower navigation2 dynamic_edt_3d octomap octovis octomap_msgs osqp_vendor pacmod3_msgs pcl_msgs pcl_conversions pcl_ros perception_pcl point_cloud_msg_wrapper radar_msgs can_msgs rqt_tf_tree tensorrt_cmake_module topic_tools topic_tools_interfaces tvm_vendor cv_bridge image_geometry opencv_tests vision_opencv xacro rviz2 rviz_assimp_vendor rviz_common rviz_default_plugins rviz_ogre_vendor rviz_rendering rviz_rendering_tests rviz_visual_testing_framework dummy_perception_publisher fault_injection simple_planning_simulator image_view v4l2_camera aion_interface carla_vehicle_can cgi430_can_driver cgi610_driver ARS408_driver common_sensor_launch kunyi_sensor_kit_description kunyi_sensor_kit_launch classformsg node_v2x data_format_dump data_preprocess_launch lidar_centerpoint_collect lidar_saver message_sync time_cal camera_calibration direct_visual_lidar_calibration multi_lidar_calibration

ROS Distro
github

API Docs
Browse Code

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

The lane_departure_checker package

Additional Links

No additional links.

Maintainers

  • Kyoichi Sugahara
  • Makoto Kurihara

Authors

No additional authors.
src/autodrrt.application/control/lane_departure_checker/README.md

Lane Departure Checker

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

Features

This package includes the following features:

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

Inner-workings / Algorithms

How to extend footprint by covariance

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

    1.Transform covariance into vehicle coordinate.

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

    Calculate covariance in vehicle coordinate.

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

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

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

Interface

Input

  • /localization/kinematic_state [nav_msgs::msg::Odometry]
  • /map/vector_map [autoware_auto_mapping_msgs::msg::HADMapBin]
  • /planning/mission_planning/route [autoware_planning_msgs::msg::LaneletRoute]
  • /planning/scenario_planning/trajectory [autoware_auto_planning_msgs::msg::Trajectory]
  • /control/trajectory_follower/predicted_trajectory [autoware_auto_planning_msgs::msg::Trajectory]

Output

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

Parameters

Node Parameters

General Parameters

Name Type Description Default value
will_out_of_lane_checker bool Enable checker whether ego vehicle footprint will depart from lane True
out_of_lane_checker bool Enable checker whether ego vehicle footprint is out of lane True
boundary_departure_checker bool Enable checker whether ego vehicle footprint wil depart from boundary specified by boundary_types_to_detect False
update_rate double Frequency for publishing [Hz] 10.0
visualize_lanelet bool Flag for visualizing lanelet False

Parameters For Lane Departure

Name Type Description Default value
include_right_lanes bool Flag for including right lanelet in borders False
include_left_lanes bool Flag for including left lanelet in borders False
include_opposite_lanes bool Flag for including opposite lanelet in borders False
include_conflicting_lanes bool Flag for including conflicting lanelet in borders False

Parameters For Road Border Departure

Name Type Description Default value
boundary_types_to_detect std::vector<std::string> line_string types to detect with boundary_departure_checker [road_border]

Core Parameters

Name Type Description Default value
footprint_margin_scale double Coefficient for expanding footprint margin. Multiplied by 1 standard deviation. 1.0
resample_interval double Minimum Euclidean distance between points when resample trajectory.[m] 0.3
max_deceleration double Maximum deceleration when calculating braking distance. 2.8
delay_time double Delay time which took to actuate brake when calculating braking distance. [second] 1.3
max_lateral_deviation double Maximum lateral deviation in vehicle coordinate. [m] 2.0
max_longitudinal_deviation double Maximum longitudinal deviation in vehicle coordinate. [m] 2.0

File truncated at 100 lines see the full file

CHANGELOG
No CHANGELOG found.

Launch files

  • launch/lane_departure_checker.launch.xml
      • input/odometry [default: /localization/kinematic_state]
      • input/lanelet_map_bin [default: /map/vector_map]
      • input/route [default: /planning/mission_planning/route]
      • input/reference_trajectory [default: /planning/scenario_planning/trajectory]
      • input/predicted_trajectory [default: /control/trajectory_follower/predicted_trajectory]
      • config_file [default: $(find-pkg-share lane_departure_checker)/config/lane_departure_checker.param.yaml]
      • vehicle_info_param_file [default: $(find-pkg-share vehicle_info_util)/config/vehicle_info.param.yaml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged lane_departure_checker at Robotics Stack Exchange

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

lane_departure_checker package from autodrrt repo

autonomous_emergency_braking control_performance_analysis control_validator external_cmd_selector joy_controller lane_departure_checker mpc_lateral_controller obstacle_collision_checker operation_mode_transition_manager pid_longitudinal_controller predicted_path_checker pure_pursuit shift_decider trajectory_follower_base trajectory_follower_node vehicle_cmd_gate diagnostic_converter kinematic_evaluator localization_evaluator planning_evaluator ekf_localizer geo_pose_projector gyro_odometer ar_tag_based_localizer landmark_manager localization_error_monitor localization_gnss localization_util ndt_scan_matcher pose2twist pose_initializer pose_instability_detector stop_filter tree_structured_parzen_estimator twist2accel yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer map_height_fitter map_loader map_projection_loader map_tf_generator lanelet2_map_preprocessor ros2_bevdet bytetrack cluster_merger compare_map_segmentation crosswalk_traffic_light_estimator detected_object_feature_remover detected_object_validation detection_by_tracker elevation_map_loader euclidean_cluster front_vehicle_velocity_estimator ground_segmentation heatmap_visualizer image_projection_based_fusion lidar_apollo_instance_segmentation lidar_apollo_segmentation_tvm lidar_apollo_segmentation_tvm_nodes lidar_centerpoint lidar_centerpoint_tvm map_based_prediction multi_object_tracker object_merger object_range_splitter object_velocity_splitter occupancy_grid_map_outlier_filter probabilistic_occupancy_grid_map radar_crossing_objects_noise_filter radar_fusion_to_detected_object radar_object_clustering radar_object_tracker radar_tracks_msgs_converter shape_estimation simple_object_merger tensorrt_classifier tensorrt_yolo tensorrt_yolox tracking_object_merger traffic_light_arbiter traffic_light_classifier traffic_light_fine_detector traffic_light_map_based_detector traffic_light_multi_camera_fusion traffic_light_occlusion_predictor traffic_light_ssd_fine_detector traffic_light_visualization behavior_path_avoidance_by_lane_change_module behavior_path_avoidance_module behavior_path_external_request_lane_change_module behavior_path_goal_planner_module behavior_path_lane_change_module behavior_path_planner behavior_path_planner_common behavior_path_side_shift_module behavior_path_start_planner_module behavior_velocity_blind_spot_module behavior_velocity_crosswalk_module behavior_velocity_detection_area_module behavior_velocity_intersection_module behavior_velocity_no_drivable_lane_module behavior_velocity_no_stopping_area_module behavior_velocity_occlusion_spot_module behavior_velocity_out_of_lane_module behavior_velocity_planner behavior_velocity_planner_common behavior_velocity_run_out_module behavior_velocity_speed_bump_module behavior_velocity_stop_line_module behavior_velocity_template_module behavior_velocity_traffic_light_module behavior_velocity_virtual_traffic_light_module behavior_velocity_walkway_module costmap_generator external_velocity_limit_selector freespace_planner freespace_planning_algorithms mission_planner motion_velocity_smoother objects_of_interest_marker_interface obstacle_avoidance_planner obstacle_cruise_planner obstacle_stop_planner obstacle_velocity_limiter path_smoother planning_debug_tools planning_test_utils planning_topic_converter planning_validator route_handler rtc_interface rtc_replayer bezier_sampler frenet_planner path_sampler sampler_common scenario_selector static_centerline_optimizer surround_obstacle_checker gnss_poser image_diagnostics image_transport_decompressor imu_corrector livox_tag_filter pointcloud_preprocessor radar_scan_to_pointcloud2 radar_static_pointcloud_filter radar_threshold_filter radar_tracks_noise_filter tier4_pcl_extensions vehicle_velocity_converter autoware_auto_msgs_adapter bluetooth_monitor component_state_monitor default_ad_api ad_api_adaptors ad_api_visualizers automatic_pose_initializer diagnostic_graph_aggregator dummy_diag_publisher dummy_infrastructure duplicated_node_checker emergency_handler mrm_comfortable_stop_operator mrm_emergency_stop_operator system_error_monitor system_monitor topic_state_monitor velodyne_monitor accel_brake_map_calibrator external_cmd_converter raw_vehicle_cmd_converter steer_offset_estimator vehicle_info_util launch loop_sim ssh_machine gpudirect-dds autoware_ad_api_specs autoware_adapi_v1_msgs autoware_adapi_version_msgs autoware_auto_common autoware_auto_geometry autoware_auto_control_msgs autoware_auto_geometry_msgs autoware_auto_mapping_msgs autoware_auto_msgs autoware_auto_perception_msgs autoware_auto_planning_msgs autoware_auto_system_msgs autoware_auto_vehicle_msgs autoware_auto_perception_rviz_plugin autoware_auto_tf2 autoware_cmake autoware_lint_common autoware_utils lanelet2_extension autoware_common_msgs autoware_control_msgs autoware_localization_msgs autoware_map_msgs autoware_perception_msgs autoware_planning_msgs autoware_sensing_msgs autoware_system_msgs autoware_vehicle_msgs autoware_point_types autoware_testing bag_time_manager_rviz_plugin component_interface_specs component_interface_tools component_interface_utils cuda_utils fake_test_node geography_utils global_parameter_loader glog_component goal_distance_calculator grid_map_utils interpolation kalman_filter motion_utils object_recognition_utils osqp_interface path_distance_calculator perception_utils polar_grid qp_interface rtc_manager_rviz_plugin signal_processing tensorrt_common tier4_adapi_rviz_plugin tier4_api_utils tier4_automatic_goal_rviz_plugin tier4_autoware_utils tier4_calibration_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_rviz_plugin tier4_datetime_rviz_plugin tier4_debug_rviz_plugin tier4_debug_tools tier4_localization_rviz_plugin tier4_perception_rviz_plugin tier4_planning_rviz_plugin tier4_screen_capture_rviz_plugin tier4_simulated_clock_rviz_plugin tier4_state_rviz_plugin tier4_system_rviz_plugin tier4_target_object_type_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin time_utils simulator_compatibility_test traffic_light_recognition_marker_publisher traffic_light_utils tvm_utility dma_customer_msg dma_transfer eagleye_coordinate eagleye_navigation eagleye_msgs eagleye_rt eagleye_can_velocity_converter eagleye_fix2kml eagleye_geo_pose_converter eagleye_geo_pose_fusion eagleye_gnss_converter eagleye_tf llh_converter morai_msgs mussp ndt_omp orocos_kdl python_orocos_kdl pointcloud_to_laserscan rtklib_bridge rtklib_msgs autoware_external_api_msgs autoware_iv_external_api_adaptor autoware_iv_internal_api_adaptor awapi_awiv_adapter tier4_api_msgs tier4_auto_msgs_converter tier4_control_msgs tier4_debug_msgs tier4_external_api_msgs tier4_hmi_msgs tier4_localization_msgs tier4_map_msgs tier4_perception_msgs tier4_planning_msgs tier4_rtc_msgs tier4_simulation_msgs tier4_system_msgs tier4_v2x_msgs tier4_vehicle_msgs tier4_autoware_api_launch tier4_control_launch tier4_localization_launch tier4_map_launch tier4_perception_launch tier4_planning_launch tier4_sensing_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch fastrtps cyclonedds lanelet2 lanelet2_core lanelet2_examples lanelet2_io lanelet2_maps lanelet2_matching lanelet2_projection lanelet2_python lanelet2_routing lanelet2_traffic_rules lanelet2_validation sophus angles behaviortree_cpp_v3 bond bond_core bondcpp bondpy smclib test_bond cudnn_cmake_module diagnostic_aggregator diagnostic_common_diagnostics diagnostic_updater diagnostics self_test filters geodesy geographic_info geographic_msgs grid_map grid_map_cmake_helpers grid_map_core grid_map_costmap_2d grid_map_cv grid_map_demos grid_map_filters grid_map_loader grid_map_msgs grid_map_octomap grid_map_pcl grid_map_ros grid_map_rviz_plugin grid_map_sdf grid_map_visualization mrt_cmake_modules nav2_amcl nav2_behavior_tree nav2_behaviors nav2_bringup nav2_bt_navigator nav2_collision_monitor nav2_common nav2_controller nav2_core nav2_costmap_2d costmap_queue dwb_core dwb_critics dwb_msgs dwb_plugins nav2_dwb_controller nav_2d_msgs nav_2d_utils nav2_lifecycle_manager nav2_map_server nav2_msgs nav2_navfn_planner nav2_planner nav2_regulated_pure_pursuit_controller nav2_rotation_shim_controller nav2_rviz_plugins nav2_simple_commander nav2_smac_planner nav2_smoother nav2_system_tests nav2_theta_star_planner nav2_util nav2_velocity_smoother nav2_voxel_grid nav2_waypoint_follower navigation2 dynamic_edt_3d octomap octovis octomap_msgs osqp_vendor pacmod3_msgs pcl_msgs pcl_conversions pcl_ros perception_pcl point_cloud_msg_wrapper radar_msgs can_msgs rqt_tf_tree tensorrt_cmake_module topic_tools topic_tools_interfaces tvm_vendor cv_bridge image_geometry opencv_tests vision_opencv xacro rviz2 rviz_assimp_vendor rviz_common rviz_default_plugins rviz_ogre_vendor rviz_rendering rviz_rendering_tests rviz_visual_testing_framework dummy_perception_publisher fault_injection simple_planning_simulator image_view v4l2_camera aion_interface carla_vehicle_can cgi430_can_driver cgi610_driver ARS408_driver common_sensor_launch kunyi_sensor_kit_description kunyi_sensor_kit_launch classformsg node_v2x data_format_dump data_preprocess_launch lidar_centerpoint_collect lidar_saver message_sync time_cal camera_calibration direct_visual_lidar_calibration multi_lidar_calibration

ROS Distro
github

API Docs
Browse Code

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

The lane_departure_checker package

Additional Links

No additional links.

Maintainers

  • Kyoichi Sugahara
  • Makoto Kurihara

Authors

No additional authors.
src/autodrrt.application/control/lane_departure_checker/README.md

Lane Departure Checker

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

Features

This package includes the following features:

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

Inner-workings / Algorithms

How to extend footprint by covariance

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

    1.Transform covariance into vehicle coordinate.

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

    Calculate covariance in vehicle coordinate.

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

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

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

Interface

Input

  • /localization/kinematic_state [nav_msgs::msg::Odometry]
  • /map/vector_map [autoware_auto_mapping_msgs::msg::HADMapBin]
  • /planning/mission_planning/route [autoware_planning_msgs::msg::LaneletRoute]
  • /planning/scenario_planning/trajectory [autoware_auto_planning_msgs::msg::Trajectory]
  • /control/trajectory_follower/predicted_trajectory [autoware_auto_planning_msgs::msg::Trajectory]

Output

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

Parameters

Node Parameters

General Parameters

Name Type Description Default value
will_out_of_lane_checker bool Enable checker whether ego vehicle footprint will depart from lane True
out_of_lane_checker bool Enable checker whether ego vehicle footprint is out of lane True
boundary_departure_checker bool Enable checker whether ego vehicle footprint wil depart from boundary specified by boundary_types_to_detect False
update_rate double Frequency for publishing [Hz] 10.0
visualize_lanelet bool Flag for visualizing lanelet False

Parameters For Lane Departure

Name Type Description Default value
include_right_lanes bool Flag for including right lanelet in borders False
include_left_lanes bool Flag for including left lanelet in borders False
include_opposite_lanes bool Flag for including opposite lanelet in borders False
include_conflicting_lanes bool Flag for including conflicting lanelet in borders False

Parameters For Road Border Departure

Name Type Description Default value
boundary_types_to_detect std::vector<std::string> line_string types to detect with boundary_departure_checker [road_border]

Core Parameters

Name Type Description Default value
footprint_margin_scale double Coefficient for expanding footprint margin. Multiplied by 1 standard deviation. 1.0
resample_interval double Minimum Euclidean distance between points when resample trajectory.[m] 0.3
max_deceleration double Maximum deceleration when calculating braking distance. 2.8
delay_time double Delay time which took to actuate brake when calculating braking distance. [second] 1.3
max_lateral_deviation double Maximum lateral deviation in vehicle coordinate. [m] 2.0
max_longitudinal_deviation double Maximum longitudinal deviation in vehicle coordinate. [m] 2.0

File truncated at 100 lines see the full file

CHANGELOG
No CHANGELOG found.

Launch files

  • launch/lane_departure_checker.launch.xml
      • input/odometry [default: /localization/kinematic_state]
      • input/lanelet_map_bin [default: /map/vector_map]
      • input/route [default: /planning/mission_planning/route]
      • input/reference_trajectory [default: /planning/scenario_planning/trajectory]
      • input/predicted_trajectory [default: /control/trajectory_follower/predicted_trajectory]
      • config_file [default: $(find-pkg-share lane_departure_checker)/config/lane_departure_checker.param.yaml]
      • vehicle_info_param_file [default: $(find-pkg-share vehicle_info_util)/config/vehicle_info.param.yaml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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lane_departure_checker package from autodrrt repo

autonomous_emergency_braking control_performance_analysis control_validator external_cmd_selector joy_controller lane_departure_checker mpc_lateral_controller obstacle_collision_checker operation_mode_transition_manager pid_longitudinal_controller predicted_path_checker pure_pursuit shift_decider trajectory_follower_base trajectory_follower_node vehicle_cmd_gate diagnostic_converter kinematic_evaluator localization_evaluator planning_evaluator ekf_localizer geo_pose_projector gyro_odometer ar_tag_based_localizer landmark_manager localization_error_monitor localization_gnss localization_util ndt_scan_matcher pose2twist pose_initializer pose_instability_detector stop_filter tree_structured_parzen_estimator twist2accel yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer map_height_fitter map_loader map_projection_loader map_tf_generator lanelet2_map_preprocessor ros2_bevdet bytetrack cluster_merger compare_map_segmentation crosswalk_traffic_light_estimator detected_object_feature_remover detected_object_validation detection_by_tracker elevation_map_loader euclidean_cluster front_vehicle_velocity_estimator ground_segmentation heatmap_visualizer image_projection_based_fusion lidar_apollo_instance_segmentation lidar_apollo_segmentation_tvm lidar_apollo_segmentation_tvm_nodes lidar_centerpoint lidar_centerpoint_tvm map_based_prediction multi_object_tracker object_merger object_range_splitter object_velocity_splitter occupancy_grid_map_outlier_filter probabilistic_occupancy_grid_map radar_crossing_objects_noise_filter radar_fusion_to_detected_object radar_object_clustering radar_object_tracker radar_tracks_msgs_converter shape_estimation simple_object_merger tensorrt_classifier tensorrt_yolo tensorrt_yolox tracking_object_merger traffic_light_arbiter traffic_light_classifier traffic_light_fine_detector traffic_light_map_based_detector traffic_light_multi_camera_fusion traffic_light_occlusion_predictor traffic_light_ssd_fine_detector traffic_light_visualization behavior_path_avoidance_by_lane_change_module behavior_path_avoidance_module behavior_path_external_request_lane_change_module behavior_path_goal_planner_module behavior_path_lane_change_module behavior_path_planner behavior_path_planner_common behavior_path_side_shift_module behavior_path_start_planner_module behavior_velocity_blind_spot_module behavior_velocity_crosswalk_module behavior_velocity_detection_area_module behavior_velocity_intersection_module behavior_velocity_no_drivable_lane_module behavior_velocity_no_stopping_area_module behavior_velocity_occlusion_spot_module behavior_velocity_out_of_lane_module behavior_velocity_planner behavior_velocity_planner_common behavior_velocity_run_out_module behavior_velocity_speed_bump_module behavior_velocity_stop_line_module behavior_velocity_template_module behavior_velocity_traffic_light_module behavior_velocity_virtual_traffic_light_module behavior_velocity_walkway_module costmap_generator external_velocity_limit_selector freespace_planner freespace_planning_algorithms mission_planner motion_velocity_smoother objects_of_interest_marker_interface obstacle_avoidance_planner obstacle_cruise_planner obstacle_stop_planner obstacle_velocity_limiter path_smoother planning_debug_tools planning_test_utils planning_topic_converter planning_validator route_handler rtc_interface rtc_replayer bezier_sampler frenet_planner path_sampler sampler_common scenario_selector static_centerline_optimizer surround_obstacle_checker gnss_poser image_diagnostics image_transport_decompressor imu_corrector livox_tag_filter pointcloud_preprocessor radar_scan_to_pointcloud2 radar_static_pointcloud_filter radar_threshold_filter radar_tracks_noise_filter tier4_pcl_extensions vehicle_velocity_converter autoware_auto_msgs_adapter bluetooth_monitor component_state_monitor default_ad_api ad_api_adaptors ad_api_visualizers automatic_pose_initializer diagnostic_graph_aggregator dummy_diag_publisher dummy_infrastructure duplicated_node_checker emergency_handler mrm_comfortable_stop_operator mrm_emergency_stop_operator system_error_monitor system_monitor topic_state_monitor velodyne_monitor accel_brake_map_calibrator external_cmd_converter raw_vehicle_cmd_converter steer_offset_estimator vehicle_info_util launch loop_sim ssh_machine gpudirect-dds autoware_ad_api_specs autoware_adapi_v1_msgs autoware_adapi_version_msgs autoware_auto_common autoware_auto_geometry autoware_auto_control_msgs autoware_auto_geometry_msgs autoware_auto_mapping_msgs autoware_auto_msgs autoware_auto_perception_msgs autoware_auto_planning_msgs autoware_auto_system_msgs autoware_auto_vehicle_msgs autoware_auto_perception_rviz_plugin autoware_auto_tf2 autoware_cmake autoware_lint_common autoware_utils lanelet2_extension autoware_common_msgs autoware_control_msgs autoware_localization_msgs autoware_map_msgs autoware_perception_msgs autoware_planning_msgs autoware_sensing_msgs autoware_system_msgs autoware_vehicle_msgs autoware_point_types autoware_testing bag_time_manager_rviz_plugin component_interface_specs component_interface_tools component_interface_utils cuda_utils fake_test_node geography_utils global_parameter_loader glog_component goal_distance_calculator grid_map_utils interpolation kalman_filter motion_utils object_recognition_utils osqp_interface path_distance_calculator perception_utils polar_grid qp_interface rtc_manager_rviz_plugin signal_processing tensorrt_common tier4_adapi_rviz_plugin tier4_api_utils tier4_automatic_goal_rviz_plugin tier4_autoware_utils tier4_calibration_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_rviz_plugin tier4_datetime_rviz_plugin tier4_debug_rviz_plugin tier4_debug_tools tier4_localization_rviz_plugin tier4_perception_rviz_plugin tier4_planning_rviz_plugin tier4_screen_capture_rviz_plugin tier4_simulated_clock_rviz_plugin tier4_state_rviz_plugin tier4_system_rviz_plugin tier4_target_object_type_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin time_utils simulator_compatibility_test traffic_light_recognition_marker_publisher traffic_light_utils tvm_utility dma_customer_msg dma_transfer eagleye_coordinate eagleye_navigation eagleye_msgs eagleye_rt eagleye_can_velocity_converter eagleye_fix2kml eagleye_geo_pose_converter eagleye_geo_pose_fusion eagleye_gnss_converter eagleye_tf llh_converter morai_msgs mussp ndt_omp orocos_kdl python_orocos_kdl pointcloud_to_laserscan rtklib_bridge rtklib_msgs autoware_external_api_msgs autoware_iv_external_api_adaptor autoware_iv_internal_api_adaptor awapi_awiv_adapter tier4_api_msgs tier4_auto_msgs_converter tier4_control_msgs tier4_debug_msgs tier4_external_api_msgs tier4_hmi_msgs tier4_localization_msgs tier4_map_msgs tier4_perception_msgs tier4_planning_msgs tier4_rtc_msgs tier4_simulation_msgs tier4_system_msgs tier4_v2x_msgs tier4_vehicle_msgs tier4_autoware_api_launch tier4_control_launch tier4_localization_launch tier4_map_launch tier4_perception_launch tier4_planning_launch tier4_sensing_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch fastrtps cyclonedds lanelet2 lanelet2_core lanelet2_examples lanelet2_io lanelet2_maps lanelet2_matching lanelet2_projection lanelet2_python lanelet2_routing lanelet2_traffic_rules lanelet2_validation sophus angles behaviortree_cpp_v3 bond bond_core bondcpp bondpy smclib test_bond cudnn_cmake_module diagnostic_aggregator diagnostic_common_diagnostics diagnostic_updater diagnostics self_test filters geodesy geographic_info geographic_msgs grid_map grid_map_cmake_helpers grid_map_core grid_map_costmap_2d grid_map_cv grid_map_demos grid_map_filters grid_map_loader grid_map_msgs grid_map_octomap grid_map_pcl grid_map_ros grid_map_rviz_plugin grid_map_sdf grid_map_visualization mrt_cmake_modules nav2_amcl nav2_behavior_tree nav2_behaviors nav2_bringup nav2_bt_navigator nav2_collision_monitor nav2_common nav2_controller nav2_core nav2_costmap_2d costmap_queue dwb_core dwb_critics dwb_msgs dwb_plugins nav2_dwb_controller nav_2d_msgs nav_2d_utils nav2_lifecycle_manager nav2_map_server nav2_msgs nav2_navfn_planner nav2_planner nav2_regulated_pure_pursuit_controller nav2_rotation_shim_controller nav2_rviz_plugins nav2_simple_commander nav2_smac_planner nav2_smoother nav2_system_tests nav2_theta_star_planner nav2_util nav2_velocity_smoother nav2_voxel_grid nav2_waypoint_follower navigation2 dynamic_edt_3d octomap octovis octomap_msgs osqp_vendor pacmod3_msgs pcl_msgs pcl_conversions pcl_ros perception_pcl point_cloud_msg_wrapper radar_msgs can_msgs rqt_tf_tree tensorrt_cmake_module topic_tools topic_tools_interfaces tvm_vendor cv_bridge image_geometry opencv_tests vision_opencv xacro rviz2 rviz_assimp_vendor rviz_common rviz_default_plugins rviz_ogre_vendor rviz_rendering rviz_rendering_tests rviz_visual_testing_framework dummy_perception_publisher fault_injection simple_planning_simulator image_view v4l2_camera aion_interface carla_vehicle_can cgi430_can_driver cgi610_driver ARS408_driver common_sensor_launch kunyi_sensor_kit_description kunyi_sensor_kit_launch classformsg node_v2x data_format_dump data_preprocess_launch lidar_centerpoint_collect lidar_saver message_sync time_cal camera_calibration direct_visual_lidar_calibration multi_lidar_calibration

ROS Distro
github

API Docs
Browse Code

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

The lane_departure_checker package

Additional Links

No additional links.

Maintainers

  • Kyoichi Sugahara
  • Makoto Kurihara

Authors

No additional authors.
src/autodrrt.application/control/lane_departure_checker/README.md

Lane Departure Checker

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

Features

This package includes the following features:

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

Inner-workings / Algorithms

How to extend footprint by covariance

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

    1.Transform covariance into vehicle coordinate.

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

    Calculate covariance in vehicle coordinate.

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

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

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

Interface

Input

  • /localization/kinematic_state [nav_msgs::msg::Odometry]
  • /map/vector_map [autoware_auto_mapping_msgs::msg::HADMapBin]
  • /planning/mission_planning/route [autoware_planning_msgs::msg::LaneletRoute]
  • /planning/scenario_planning/trajectory [autoware_auto_planning_msgs::msg::Trajectory]
  • /control/trajectory_follower/predicted_trajectory [autoware_auto_planning_msgs::msg::Trajectory]

Output

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

Parameters

Node Parameters

General Parameters

Name Type Description Default value
will_out_of_lane_checker bool Enable checker whether ego vehicle footprint will depart from lane True
out_of_lane_checker bool Enable checker whether ego vehicle footprint is out of lane True
boundary_departure_checker bool Enable checker whether ego vehicle footprint wil depart from boundary specified by boundary_types_to_detect False
update_rate double Frequency for publishing [Hz] 10.0
visualize_lanelet bool Flag for visualizing lanelet False

Parameters For Lane Departure

Name Type Description Default value
include_right_lanes bool Flag for including right lanelet in borders False
include_left_lanes bool Flag for including left lanelet in borders False
include_opposite_lanes bool Flag for including opposite lanelet in borders False
include_conflicting_lanes bool Flag for including conflicting lanelet in borders False

Parameters For Road Border Departure

Name Type Description Default value
boundary_types_to_detect std::vector<std::string> line_string types to detect with boundary_departure_checker [road_border]

Core Parameters

Name Type Description Default value
footprint_margin_scale double Coefficient for expanding footprint margin. Multiplied by 1 standard deviation. 1.0
resample_interval double Minimum Euclidean distance between points when resample trajectory.[m] 0.3
max_deceleration double Maximum deceleration when calculating braking distance. 2.8
delay_time double Delay time which took to actuate brake when calculating braking distance. [second] 1.3
max_lateral_deviation double Maximum lateral deviation in vehicle coordinate. [m] 2.0
max_longitudinal_deviation double Maximum longitudinal deviation in vehicle coordinate. [m] 2.0

File truncated at 100 lines see the full file

CHANGELOG
No CHANGELOG found.

Launch files

  • launch/lane_departure_checker.launch.xml
      • input/odometry [default: /localization/kinematic_state]
      • input/lanelet_map_bin [default: /map/vector_map]
      • input/route [default: /planning/mission_planning/route]
      • input/reference_trajectory [default: /planning/scenario_planning/trajectory]
      • input/predicted_trajectory [default: /control/trajectory_follower/predicted_trajectory]
      • config_file [default: $(find-pkg-share lane_departure_checker)/config/lane_departure_checker.param.yaml]
      • vehicle_info_param_file [default: $(find-pkg-share vehicle_info_util)/config/vehicle_info.param.yaml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged lane_departure_checker at Robotics Stack Exchange

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

lane_departure_checker package from autodrrt repo

autonomous_emergency_braking control_performance_analysis control_validator external_cmd_selector joy_controller lane_departure_checker mpc_lateral_controller obstacle_collision_checker operation_mode_transition_manager pid_longitudinal_controller predicted_path_checker pure_pursuit shift_decider trajectory_follower_base trajectory_follower_node vehicle_cmd_gate diagnostic_converter kinematic_evaluator localization_evaluator planning_evaluator ekf_localizer geo_pose_projector gyro_odometer ar_tag_based_localizer landmark_manager localization_error_monitor localization_gnss localization_util ndt_scan_matcher pose2twist pose_initializer pose_instability_detector stop_filter tree_structured_parzen_estimator twist2accel yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer map_height_fitter map_loader map_projection_loader map_tf_generator lanelet2_map_preprocessor ros2_bevdet bytetrack cluster_merger compare_map_segmentation crosswalk_traffic_light_estimator detected_object_feature_remover detected_object_validation detection_by_tracker elevation_map_loader euclidean_cluster front_vehicle_velocity_estimator ground_segmentation heatmap_visualizer image_projection_based_fusion lidar_apollo_instance_segmentation lidar_apollo_segmentation_tvm lidar_apollo_segmentation_tvm_nodes lidar_centerpoint lidar_centerpoint_tvm map_based_prediction multi_object_tracker object_merger object_range_splitter object_velocity_splitter occupancy_grid_map_outlier_filter probabilistic_occupancy_grid_map radar_crossing_objects_noise_filter radar_fusion_to_detected_object radar_object_clustering radar_object_tracker radar_tracks_msgs_converter shape_estimation simple_object_merger tensorrt_classifier tensorrt_yolo tensorrt_yolox tracking_object_merger traffic_light_arbiter traffic_light_classifier traffic_light_fine_detector traffic_light_map_based_detector traffic_light_multi_camera_fusion traffic_light_occlusion_predictor traffic_light_ssd_fine_detector traffic_light_visualization behavior_path_avoidance_by_lane_change_module behavior_path_avoidance_module behavior_path_external_request_lane_change_module behavior_path_goal_planner_module behavior_path_lane_change_module behavior_path_planner behavior_path_planner_common behavior_path_side_shift_module behavior_path_start_planner_module behavior_velocity_blind_spot_module behavior_velocity_crosswalk_module behavior_velocity_detection_area_module behavior_velocity_intersection_module behavior_velocity_no_drivable_lane_module behavior_velocity_no_stopping_area_module behavior_velocity_occlusion_spot_module behavior_velocity_out_of_lane_module behavior_velocity_planner behavior_velocity_planner_common behavior_velocity_run_out_module behavior_velocity_speed_bump_module behavior_velocity_stop_line_module behavior_velocity_template_module behavior_velocity_traffic_light_module behavior_velocity_virtual_traffic_light_module behavior_velocity_walkway_module costmap_generator external_velocity_limit_selector freespace_planner freespace_planning_algorithms mission_planner motion_velocity_smoother objects_of_interest_marker_interface obstacle_avoidance_planner obstacle_cruise_planner obstacle_stop_planner obstacle_velocity_limiter path_smoother planning_debug_tools planning_test_utils planning_topic_converter planning_validator route_handler rtc_interface rtc_replayer bezier_sampler frenet_planner path_sampler sampler_common scenario_selector static_centerline_optimizer surround_obstacle_checker gnss_poser image_diagnostics image_transport_decompressor imu_corrector livox_tag_filter pointcloud_preprocessor radar_scan_to_pointcloud2 radar_static_pointcloud_filter radar_threshold_filter radar_tracks_noise_filter tier4_pcl_extensions vehicle_velocity_converter autoware_auto_msgs_adapter bluetooth_monitor component_state_monitor default_ad_api ad_api_adaptors ad_api_visualizers automatic_pose_initializer diagnostic_graph_aggregator dummy_diag_publisher dummy_infrastructure duplicated_node_checker emergency_handler mrm_comfortable_stop_operator mrm_emergency_stop_operator system_error_monitor system_monitor topic_state_monitor velodyne_monitor accel_brake_map_calibrator external_cmd_converter raw_vehicle_cmd_converter steer_offset_estimator vehicle_info_util launch loop_sim ssh_machine gpudirect-dds autoware_ad_api_specs autoware_adapi_v1_msgs autoware_adapi_version_msgs autoware_auto_common autoware_auto_geometry autoware_auto_control_msgs autoware_auto_geometry_msgs autoware_auto_mapping_msgs autoware_auto_msgs autoware_auto_perception_msgs autoware_auto_planning_msgs autoware_auto_system_msgs autoware_auto_vehicle_msgs autoware_auto_perception_rviz_plugin autoware_auto_tf2 autoware_cmake autoware_lint_common autoware_utils lanelet2_extension autoware_common_msgs autoware_control_msgs autoware_localization_msgs autoware_map_msgs autoware_perception_msgs autoware_planning_msgs autoware_sensing_msgs autoware_system_msgs autoware_vehicle_msgs autoware_point_types autoware_testing bag_time_manager_rviz_plugin component_interface_specs component_interface_tools component_interface_utils cuda_utils fake_test_node geography_utils global_parameter_loader glog_component goal_distance_calculator grid_map_utils interpolation kalman_filter motion_utils object_recognition_utils osqp_interface path_distance_calculator perception_utils polar_grid qp_interface rtc_manager_rviz_plugin signal_processing tensorrt_common tier4_adapi_rviz_plugin tier4_api_utils tier4_automatic_goal_rviz_plugin tier4_autoware_utils tier4_calibration_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_rviz_plugin tier4_datetime_rviz_plugin tier4_debug_rviz_plugin tier4_debug_tools tier4_localization_rviz_plugin tier4_perception_rviz_plugin tier4_planning_rviz_plugin tier4_screen_capture_rviz_plugin tier4_simulated_clock_rviz_plugin tier4_state_rviz_plugin tier4_system_rviz_plugin tier4_target_object_type_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin time_utils simulator_compatibility_test traffic_light_recognition_marker_publisher traffic_light_utils tvm_utility dma_customer_msg dma_transfer eagleye_coordinate eagleye_navigation eagleye_msgs eagleye_rt eagleye_can_velocity_converter eagleye_fix2kml eagleye_geo_pose_converter eagleye_geo_pose_fusion eagleye_gnss_converter eagleye_tf llh_converter morai_msgs mussp ndt_omp orocos_kdl python_orocos_kdl pointcloud_to_laserscan rtklib_bridge rtklib_msgs autoware_external_api_msgs autoware_iv_external_api_adaptor autoware_iv_internal_api_adaptor awapi_awiv_adapter tier4_api_msgs tier4_auto_msgs_converter tier4_control_msgs tier4_debug_msgs tier4_external_api_msgs tier4_hmi_msgs tier4_localization_msgs tier4_map_msgs tier4_perception_msgs tier4_planning_msgs tier4_rtc_msgs tier4_simulation_msgs tier4_system_msgs tier4_v2x_msgs tier4_vehicle_msgs tier4_autoware_api_launch tier4_control_launch tier4_localization_launch tier4_map_launch tier4_perception_launch tier4_planning_launch tier4_sensing_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch fastrtps cyclonedds lanelet2 lanelet2_core lanelet2_examples lanelet2_io lanelet2_maps lanelet2_matching lanelet2_projection lanelet2_python lanelet2_routing lanelet2_traffic_rules lanelet2_validation sophus angles behaviortree_cpp_v3 bond bond_core bondcpp bondpy smclib test_bond cudnn_cmake_module diagnostic_aggregator diagnostic_common_diagnostics diagnostic_updater diagnostics self_test filters geodesy geographic_info geographic_msgs grid_map grid_map_cmake_helpers grid_map_core grid_map_costmap_2d grid_map_cv grid_map_demos grid_map_filters grid_map_loader grid_map_msgs grid_map_octomap grid_map_pcl grid_map_ros grid_map_rviz_plugin grid_map_sdf grid_map_visualization mrt_cmake_modules nav2_amcl nav2_behavior_tree nav2_behaviors nav2_bringup nav2_bt_navigator nav2_collision_monitor nav2_common nav2_controller nav2_core nav2_costmap_2d costmap_queue dwb_core dwb_critics dwb_msgs dwb_plugins nav2_dwb_controller nav_2d_msgs nav_2d_utils nav2_lifecycle_manager nav2_map_server nav2_msgs nav2_navfn_planner nav2_planner nav2_regulated_pure_pursuit_controller nav2_rotation_shim_controller nav2_rviz_plugins nav2_simple_commander nav2_smac_planner nav2_smoother nav2_system_tests nav2_theta_star_planner nav2_util nav2_velocity_smoother nav2_voxel_grid nav2_waypoint_follower navigation2 dynamic_edt_3d octomap octovis octomap_msgs osqp_vendor pacmod3_msgs pcl_msgs pcl_conversions pcl_ros perception_pcl point_cloud_msg_wrapper radar_msgs can_msgs rqt_tf_tree tensorrt_cmake_module topic_tools topic_tools_interfaces tvm_vendor cv_bridge image_geometry opencv_tests vision_opencv xacro rviz2 rviz_assimp_vendor rviz_common rviz_default_plugins rviz_ogre_vendor rviz_rendering rviz_rendering_tests rviz_visual_testing_framework dummy_perception_publisher fault_injection simple_planning_simulator image_view v4l2_camera aion_interface carla_vehicle_can cgi430_can_driver cgi610_driver ARS408_driver common_sensor_launch kunyi_sensor_kit_description kunyi_sensor_kit_launch classformsg node_v2x data_format_dump data_preprocess_launch lidar_centerpoint_collect lidar_saver message_sync time_cal camera_calibration direct_visual_lidar_calibration multi_lidar_calibration

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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

The lane_departure_checker package

Additional Links

No additional links.

Maintainers

  • Kyoichi Sugahara
  • Makoto Kurihara

Authors

No additional authors.
src/autodrrt.application/control/lane_departure_checker/README.md

Lane Departure Checker

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

Features

This package includes the following features:

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

Inner-workings / Algorithms

How to extend footprint by covariance

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

    1.Transform covariance into vehicle coordinate.

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

    Calculate covariance in vehicle coordinate.

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

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

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

Interface

Input

  • /localization/kinematic_state [nav_msgs::msg::Odometry]
  • /map/vector_map [autoware_auto_mapping_msgs::msg::HADMapBin]
  • /planning/mission_planning/route [autoware_planning_msgs::msg::LaneletRoute]
  • /planning/scenario_planning/trajectory [autoware_auto_planning_msgs::msg::Trajectory]
  • /control/trajectory_follower/predicted_trajectory [autoware_auto_planning_msgs::msg::Trajectory]

Output

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

Parameters

Node Parameters

General Parameters

Name Type Description Default value
will_out_of_lane_checker bool Enable checker whether ego vehicle footprint will depart from lane True
out_of_lane_checker bool Enable checker whether ego vehicle footprint is out of lane True
boundary_departure_checker bool Enable checker whether ego vehicle footprint wil depart from boundary specified by boundary_types_to_detect False
update_rate double Frequency for publishing [Hz] 10.0
visualize_lanelet bool Flag for visualizing lanelet False

Parameters For Lane Departure

Name Type Description Default value
include_right_lanes bool Flag for including right lanelet in borders False
include_left_lanes bool Flag for including left lanelet in borders False
include_opposite_lanes bool Flag for including opposite lanelet in borders False
include_conflicting_lanes bool Flag for including conflicting lanelet in borders False

Parameters For Road Border Departure

Name Type Description Default value
boundary_types_to_detect std::vector<std::string> line_string types to detect with boundary_departure_checker [road_border]

Core Parameters

Name Type Description Default value
footprint_margin_scale double Coefficient for expanding footprint margin. Multiplied by 1 standard deviation. 1.0
resample_interval double Minimum Euclidean distance between points when resample trajectory.[m] 0.3
max_deceleration double Maximum deceleration when calculating braking distance. 2.8
delay_time double Delay time which took to actuate brake when calculating braking distance. [second] 1.3
max_lateral_deviation double Maximum lateral deviation in vehicle coordinate. [m] 2.0
max_longitudinal_deviation double Maximum longitudinal deviation in vehicle coordinate. [m] 2.0

File truncated at 100 lines see the full file

CHANGELOG
No CHANGELOG found.

Launch files

  • launch/lane_departure_checker.launch.xml
      • input/odometry [default: /localization/kinematic_state]
      • input/lanelet_map_bin [default: /map/vector_map]
      • input/route [default: /planning/mission_planning/route]
      • input/reference_trajectory [default: /planning/scenario_planning/trajectory]
      • input/predicted_trajectory [default: /control/trajectory_follower/predicted_trajectory]
      • config_file [default: $(find-pkg-share lane_departure_checker)/config/lane_departure_checker.param.yaml]
      • vehicle_info_param_file [default: $(find-pkg-share vehicle_info_util)/config/vehicle_info.param.yaml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged lane_departure_checker at Robotics Stack Exchange

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

lane_departure_checker package from autodrrt repo

autonomous_emergency_braking control_performance_analysis control_validator external_cmd_selector joy_controller lane_departure_checker mpc_lateral_controller obstacle_collision_checker operation_mode_transition_manager pid_longitudinal_controller predicted_path_checker pure_pursuit shift_decider trajectory_follower_base trajectory_follower_node vehicle_cmd_gate diagnostic_converter kinematic_evaluator localization_evaluator planning_evaluator ekf_localizer geo_pose_projector gyro_odometer ar_tag_based_localizer landmark_manager localization_error_monitor localization_gnss localization_util ndt_scan_matcher pose2twist pose_initializer pose_instability_detector stop_filter tree_structured_parzen_estimator twist2accel yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer map_height_fitter map_loader map_projection_loader map_tf_generator lanelet2_map_preprocessor ros2_bevdet bytetrack cluster_merger compare_map_segmentation crosswalk_traffic_light_estimator detected_object_feature_remover detected_object_validation detection_by_tracker elevation_map_loader euclidean_cluster front_vehicle_velocity_estimator ground_segmentation heatmap_visualizer image_projection_based_fusion lidar_apollo_instance_segmentation lidar_apollo_segmentation_tvm lidar_apollo_segmentation_tvm_nodes lidar_centerpoint lidar_centerpoint_tvm map_based_prediction multi_object_tracker object_merger object_range_splitter object_velocity_splitter occupancy_grid_map_outlier_filter probabilistic_occupancy_grid_map radar_crossing_objects_noise_filter radar_fusion_to_detected_object radar_object_clustering radar_object_tracker radar_tracks_msgs_converter shape_estimation simple_object_merger tensorrt_classifier tensorrt_yolo tensorrt_yolox tracking_object_merger traffic_light_arbiter traffic_light_classifier traffic_light_fine_detector traffic_light_map_based_detector traffic_light_multi_camera_fusion traffic_light_occlusion_predictor traffic_light_ssd_fine_detector traffic_light_visualization behavior_path_avoidance_by_lane_change_module behavior_path_avoidance_module behavior_path_external_request_lane_change_module behavior_path_goal_planner_module behavior_path_lane_change_module behavior_path_planner behavior_path_planner_common behavior_path_side_shift_module behavior_path_start_planner_module behavior_velocity_blind_spot_module behavior_velocity_crosswalk_module behavior_velocity_detection_area_module behavior_velocity_intersection_module behavior_velocity_no_drivable_lane_module behavior_velocity_no_stopping_area_module behavior_velocity_occlusion_spot_module behavior_velocity_out_of_lane_module behavior_velocity_planner behavior_velocity_planner_common behavior_velocity_run_out_module behavior_velocity_speed_bump_module behavior_velocity_stop_line_module behavior_velocity_template_module behavior_velocity_traffic_light_module behavior_velocity_virtual_traffic_light_module behavior_velocity_walkway_module costmap_generator external_velocity_limit_selector freespace_planner freespace_planning_algorithms mission_planner motion_velocity_smoother objects_of_interest_marker_interface obstacle_avoidance_planner obstacle_cruise_planner obstacle_stop_planner obstacle_velocity_limiter path_smoother planning_debug_tools planning_test_utils planning_topic_converter planning_validator route_handler rtc_interface rtc_replayer bezier_sampler frenet_planner path_sampler sampler_common scenario_selector static_centerline_optimizer surround_obstacle_checker gnss_poser image_diagnostics image_transport_decompressor imu_corrector livox_tag_filter pointcloud_preprocessor radar_scan_to_pointcloud2 radar_static_pointcloud_filter radar_threshold_filter radar_tracks_noise_filter tier4_pcl_extensions vehicle_velocity_converter autoware_auto_msgs_adapter bluetooth_monitor component_state_monitor default_ad_api ad_api_adaptors ad_api_visualizers automatic_pose_initializer diagnostic_graph_aggregator dummy_diag_publisher dummy_infrastructure duplicated_node_checker emergency_handler mrm_comfortable_stop_operator mrm_emergency_stop_operator system_error_monitor system_monitor topic_state_monitor velodyne_monitor accel_brake_map_calibrator external_cmd_converter raw_vehicle_cmd_converter steer_offset_estimator vehicle_info_util launch loop_sim ssh_machine gpudirect-dds autoware_ad_api_specs autoware_adapi_v1_msgs autoware_adapi_version_msgs autoware_auto_common autoware_auto_geometry autoware_auto_control_msgs autoware_auto_geometry_msgs autoware_auto_mapping_msgs autoware_auto_msgs autoware_auto_perception_msgs autoware_auto_planning_msgs autoware_auto_system_msgs autoware_auto_vehicle_msgs autoware_auto_perception_rviz_plugin autoware_auto_tf2 autoware_cmake autoware_lint_common autoware_utils lanelet2_extension autoware_common_msgs autoware_control_msgs autoware_localization_msgs autoware_map_msgs autoware_perception_msgs autoware_planning_msgs autoware_sensing_msgs autoware_system_msgs autoware_vehicle_msgs autoware_point_types autoware_testing bag_time_manager_rviz_plugin component_interface_specs component_interface_tools component_interface_utils cuda_utils fake_test_node geography_utils global_parameter_loader glog_component goal_distance_calculator grid_map_utils interpolation kalman_filter motion_utils object_recognition_utils osqp_interface path_distance_calculator perception_utils polar_grid qp_interface rtc_manager_rviz_plugin signal_processing tensorrt_common tier4_adapi_rviz_plugin tier4_api_utils tier4_automatic_goal_rviz_plugin tier4_autoware_utils tier4_calibration_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_rviz_plugin tier4_datetime_rviz_plugin tier4_debug_rviz_plugin tier4_debug_tools tier4_localization_rviz_plugin tier4_perception_rviz_plugin tier4_planning_rviz_plugin tier4_screen_capture_rviz_plugin tier4_simulated_clock_rviz_plugin tier4_state_rviz_plugin tier4_system_rviz_plugin tier4_target_object_type_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin time_utils simulator_compatibility_test traffic_light_recognition_marker_publisher traffic_light_utils tvm_utility dma_customer_msg dma_transfer eagleye_coordinate eagleye_navigation eagleye_msgs eagleye_rt eagleye_can_velocity_converter eagleye_fix2kml eagleye_geo_pose_converter eagleye_geo_pose_fusion eagleye_gnss_converter eagleye_tf llh_converter morai_msgs mussp ndt_omp orocos_kdl python_orocos_kdl pointcloud_to_laserscan rtklib_bridge rtklib_msgs autoware_external_api_msgs autoware_iv_external_api_adaptor autoware_iv_internal_api_adaptor awapi_awiv_adapter tier4_api_msgs tier4_auto_msgs_converter tier4_control_msgs tier4_debug_msgs tier4_external_api_msgs tier4_hmi_msgs tier4_localization_msgs tier4_map_msgs tier4_perception_msgs tier4_planning_msgs tier4_rtc_msgs tier4_simulation_msgs tier4_system_msgs tier4_v2x_msgs tier4_vehicle_msgs tier4_autoware_api_launch tier4_control_launch 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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

The lane_departure_checker package

Additional Links

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Maintainers

  • Kyoichi Sugahara
  • Makoto Kurihara

Authors

No additional authors.
src/autodrrt.application/control/lane_departure_checker/README.md

Lane Departure Checker

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

Features

This package includes the following features:

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

Inner-workings / Algorithms

How to extend footprint by covariance

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

    1.Transform covariance into vehicle coordinate.

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

    Calculate covariance in vehicle coordinate.

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

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

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

Interface

Input

  • /localization/kinematic_state [nav_msgs::msg::Odometry]
  • /map/vector_map [autoware_auto_mapping_msgs::msg::HADMapBin]
  • /planning/mission_planning/route [autoware_planning_msgs::msg::LaneletRoute]
  • /planning/scenario_planning/trajectory [autoware_auto_planning_msgs::msg::Trajectory]
  • /control/trajectory_follower/predicted_trajectory [autoware_auto_planning_msgs::msg::Trajectory]

Output

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

Parameters

Node Parameters

General Parameters

Name Type Description Default value
will_out_of_lane_checker bool Enable checker whether ego vehicle footprint will depart from lane True
out_of_lane_checker bool Enable checker whether ego vehicle footprint is out of lane True
boundary_departure_checker bool Enable checker whether ego vehicle footprint wil depart from boundary specified by boundary_types_to_detect False
update_rate double Frequency for publishing [Hz] 10.0
visualize_lanelet bool Flag for visualizing lanelet False

Parameters For Lane Departure

Name Type Description Default value
include_right_lanes bool Flag for including right lanelet in borders False
include_left_lanes bool Flag for including left lanelet in borders False
include_opposite_lanes bool Flag for including opposite lanelet in borders False
include_conflicting_lanes bool Flag for including conflicting lanelet in borders False

Parameters For Road Border Departure

Name Type Description Default value
boundary_types_to_detect std::vector<std::string> line_string types to detect with boundary_departure_checker [road_border]

Core Parameters

Name Type Description Default value
footprint_margin_scale double Coefficient for expanding footprint margin. Multiplied by 1 standard deviation. 1.0
resample_interval double Minimum Euclidean distance between points when resample trajectory.[m] 0.3
max_deceleration double Maximum deceleration when calculating braking distance. 2.8
delay_time double Delay time which took to actuate brake when calculating braking distance. [second] 1.3
max_lateral_deviation double Maximum lateral deviation in vehicle coordinate. [m] 2.0
max_longitudinal_deviation double Maximum longitudinal deviation in vehicle coordinate. [m] 2.0

File truncated at 100 lines see the full file

CHANGELOG
No CHANGELOG found.

Launch files

  • launch/lane_departure_checker.launch.xml
      • input/odometry [default: /localization/kinematic_state]
      • input/lanelet_map_bin [default: /map/vector_map]
      • input/route [default: /planning/mission_planning/route]
      • input/reference_trajectory [default: /planning/scenario_planning/trajectory]
      • input/predicted_trajectory [default: /control/trajectory_follower/predicted_trajectory]
      • config_file [default: $(find-pkg-share lane_departure_checker)/config/lane_departure_checker.param.yaml]
      • vehicle_info_param_file [default: $(find-pkg-share vehicle_info_util)/config/vehicle_info.param.yaml]

Messages

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Services

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Plugins

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