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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.

    Calculate covariance in vehicle coordinate.

    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_map_msgs::msg::LaneletMapBin]
  • /planning/mission_planning/route [autoware_planning_msgs::msg::LaneletRoute]
  • /planning/scenario_planning/trajectory [autoware_planning_msgs::msg::Trajectory]
  • /control/trajectory_follower/predicted_trajectory [autoware_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
footprint_extra_margin double Coefficient for expanding footprint margin. When checking for lane departure 0.0
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
max_yaw_deviation_deg double Maximum ego yaw deviation from trajectory. [deg] 60.0