Intersection Collision Checker

The intersection_collision_checker is a plugin module of autoware_planning_validator node. It is responsible for validating the planning trajectory at intersections by verifying that it does NOT lead to a collision with other road vehicles.

The check is executed only when:

• Ego is approaching a turn_direction lane
• Ego trajectory intersects with lanes other than route_lanelets

Inner workings

The following steps describe the general approach taken to check for collisions at intersections:

• Compute ego trajectory lanelets and turning direction
• Compute target lanelets to check
• For each target lanelet set the point_of_overlap (i.e where ego trajectory intersects the lanelet), and compute ego’s time to reach it.
• Filter obstacle pointclouds to remove unwanted points
• For each target lanelet:
  • process pointcloud points within lanelet and measure distance to point_of_overlap
  • estimate object velocity based on changes in distance measurements
  • estimate object’s time to reach point_of_overlap
  • compare object’s and ego’s time to reach to determine if there is a risk of collision.

If it’s determined that there is a risk of collision, a diagnostic is published to trigger an emergency stop by the MRM Handler.

Target Lanelet Selection

Right turn

To get the target lanelets, we first find all lanelets intersecting with ego trajectory. Then we filter out:

• Lanelets that are route_lanelets
• Lanelets with a “time to reach” exceeding the time horizon
• Lanelets that have turn_direction attribute and are not STRAIGHT. (If parameter right_turn.check_turning_lanes is FALSE)
• Lanelets that are determined to be crossing lanes. (If parameter right_turn.check_crossing_lanes is FALSE)

Target lanelets are then expanded, if necessary, up to detection_range

The image below shows the target lanelets at a right turn intersection. (right_turn.check_turning_lanes set to FALSE)

Left turn

To get the target lanelets in case of a left turn:

• First we find the turn_direction lanelet from the Ego trajectory lanelets
• Then we find the next lanelet “destination_lanelet” following the turn_direction lanelet
• We then get all lanelets preceding the “destination_lanelet” and filter out:
  • Lanelets that are route_lanelets
  • Lanelets with a “time to reach” exceeding the time horizon
  • Lanelets that have turn_direction attribute and are not STRAIGHT. (If parameter left_turn.check_turning_lanes is FALSE)

Target lanelets are then expanded, if necessary, up to detection_range

The image below shows the target lanelets at a left turn intersection. (left.check_turning_lanes set to TRUE)

Parameters

Lanelet Selection Flags

Pointcloud Parameters

Changelog for package autoware_planning_validator_intersection_collision_checker

0.46.0 (2025-06-20)

• Merge remote-tracking branch 'upstream/main' into tmp/TaikiYamada/bump_version_base
• feat(planning_validator): implement redundant collision prevention feature when ego makes a turn at intersection (#10750)
  • create planning latency validator plugin module

  * Revert "chore(sync-files.yaml): not synchronize [github-release.yaml]{.title-ref} (#1776)" This reverts commit 871a8540ade845c7c9a193029d407b411a4d685b.

  • create planning trajectory validator plugin module

  * Update planning/planning_validator/autoware_planning_validator/src/manager.cpp Co-authored-by: Satoshi OTA <<44889564+satoshi-ota@users.noreply.github.com>> * Update planning/planning_validator/autoware_planning_validator/include/autoware/planning_validator/node.hpp Co-authored-by: Satoshi OTA <<44889564+satoshi-ota@users.noreply.github.com>>

  • minor fix
  • refactor implementation
  • uncomment lines for adding pose markers
  • fix CMakeLists
  • add comment
  • update planning launch xml

  * Update planning/planning_validator/autoware_planning_latency_validator/include/autoware/planning_latency_validator/latency_validator.hpp Co-authored-by: Satoshi OTA <<44889564+satoshi-ota@users.noreply.github.com>> * Update planning/planning_validator/autoware_planning_validator/include/autoware/planning_validator/plugin_interface.hpp Co-authored-by: Satoshi OTA <<44889564+satoshi-ota@users.noreply.github.com>> * Update planning/planning_validator/autoware_planning_validator/include/autoware/planning_validator/types.hpp Co-authored-by: Satoshi OTA <<44889564+satoshi-ota@users.noreply.github.com>> * Update planning/planning_validator/autoware_planning_validator/src/node.cpp Co-authored-by: Satoshi OTA <<44889564+satoshi-ota@users.noreply.github.com>> * Update planning/planning_validator/autoware_planning_latency_validator/src/latency_validator.cpp Co-authored-by: Satoshi OTA <<44889564+satoshi-ota@users.noreply.github.com>>

  • apply pre-commit checks
  • rename plugins for consistency
  • rename directories and files to match package names
  • refactor planning validator tests
  • add packages maintainer
  • separate trajectory check parameters
  • add missing package dependencies
  • move trajectory diagnostics test to trajectory checker module
  • remove blank line
  • add new planning validator plugin collision_checker
  • add launch args for validator modules
  • logic for setting route handler
  • add poincloud filtering function
  • check for turn direction lane
  • compute target lanelets for collision check
  • fix format
  • refactor lanelets filtering
  • update launch files
  • move lanelet selection functions to utils file
  • check for collisions
  • check observation time of tracked object
  • add more config params, fix pcd object function
  • extend target lanes
  • add off timeout after collision is detected
  • define const value
  • improve overlap time estimation

  * Update planning/planning_validator/autoware_planning_validator_collision_checker/src/collision_checker.cpp Co-authored-by: Satoshi OTA <<44889564+satoshi-ota@users.noreply.github.com>>

  • rename planning_validator collision_checker module
  • move pointcloud filtering to just before collision check
  • use proper name for module param
  • fix logic for extending target lanelets

  * change logging level ---------Co-authored-by: GitHub Action <<action@github.com>> Co-authored-by: Satoshi OTA <<44889564+satoshi-ota@users.noreply.github.com>>

• Contributors: TaikiYamada4, mkquda