Crosswalk

Role

This module judges whether the ego should stop in front of the crosswalk in order to provide safe passage for crosswalk users, such as pedestrians and bicycles, based on the objects’ behavior and surround traffic.

Flowchart

@startuml

title modifyPathVelocity
start
:getPathEndPointsOnCrosswalk;
group apply slow down
  :applySlowDownByLanelet2Map;
  :applySlowDownByOcclusion;
end group
group calculate stop pose
  :getDefaultStopPose;
  :resamplePath;
  :checkStopForCrosswalkUsers;
  :checkStopForObstructionPrevention;
  :checkStopForParkedVehicles;
end group
group apply stop
  :getNearestStopFactor;
  :setSafe;
  :setDistanceToStop;

  if (isActivated() is True?) then (yes)
    :planGo;
  else (no)
    :planStop;
  endif
end group
stop
@enduml

@startuml

title checkStopForCrosswalkUsers
start
group calculate the candidate stop
  :pick the closest stop point against the pedestrians and stop point on map as the preferred stop;
  if (the weak brake distance is closer than the preferred stop?) then (yes)
    :plan to stop at the preferred stop;
  else (no)
    if (the weak brake distance is closer than the limit stop position against the nearest pedestrian?) then (yes)
      :plan to stop by the weak brake distance;
    else (no)
      :plan to stop at the limit stop position against the crosswalk;
    endif
  endif
end group
group check if the candidate stop pose is acceptable as deceleration rate
  if (the stop pose candidate requries stronger deceleration than the parameter?) then (yes)
    :abort to stop.;
  else (no)
    :plan to stop at the candidate stop pose;
  endif
end group
stop

@enduml

Features

Yield the Way to the Pedestrians

Target Object

The crosswalk module handles objects of the types defined by the following parameters in the object_filtering.target_object namespace.

In order to handle the crosswalk users crossing the neighborhood but outside the crosswalk, the crosswalk module creates an attention area around the crosswalk, shown as the yellow polygon in the figure. If the object’s predicted path collides with the attention area, the object will be targeted for yield.

The neighborhood is defined by the following parameter in the object_filtering.target_object namespace.

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Changelog for package autoware_behavior_velocity_crosswalk_module

0.48.0 (2025-11-18)

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

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

• fix(crosswalk): set object classification label before making decision (#11504)

• fix(crosswalk): limit start_distance of cooperate status to positive (#11406)

  • crop start_distance of cooperate status to positive

  * fix style ---------

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

  • fix: correct distance calculation by swapping src and dst

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

• feat(RTC, behavior_velocity_planner): set manual RTC via the lanelet map (#11340)

  • first attempt at a solution to set the auto/manual mode for a module
  • implementation for crosswalk and intersections modules
  • update READMEs

  * fix crosswalk -> intersection Co-authored-by: Satoshi OTA <<44889564+satoshi-ota@users.noreply.github.com>> ---------Co-authored-by: Satoshi OTA <<44889564+satoshi-ota@users.noreply.github.com>>

• fix(crosswalk): fix: incorrect inserted stop point calculation for restart suppression (#11166)

• Contributors: Kotakku, Maxime CLEMENT, Mitsuhiro Sakamoto, Ryohsuke Mitsudome, Satoshi OTA

0.47.1 (2025-08-14)

0.47.0 (2025-08-11)

• style(pre-commit): update to clang-format-20 (#11088) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

• feat(crosswalk): improve robustness to prevent stop decision from being canceled by transient noise (#11027)

  • feat(crosswalk): improve robustness to prevent stop decision from being canceled by transient noise
  • docs: readme

  * fix: small change ---------

• fix(crosswalk): incorrect stop point calculation (#10922)

• Contributors: Mete Fatih Cırıt, Satoshi OTA

0.46.0 (2025-06-20)

• Merge remote-tracking branch 'upstream/main' into tmp/TaikiYamada/bump_version_base

• feat(crosswalk_module): add infomation to PlanningFactor topic in crosswalk_module (#10759)

  * chore(sync-files.yaml): not synchronize [github-release.yaml]{.title-ref} (#1776) not sync github-release

  • feat(crosswalk_module): set infomation to PlanningFactor topic
  • feat(crosswalk_module): add test
  • wip: create test case
  • fix to parked vehicles stop
  • tidy up
  • fix cmake

  * Revert "chore(sync-files.yaml): not synchronize [github-release.yaml]{.title-ref} (#1776)"

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