How does the planning module consider scenarios

[hzkkk1997]

I see a name for the planning scene called the Detection area, but I don't quite understand which scenes should be labeled as such when drawing vector maps. That is, what kind of scene is called the detection area. Please help me, thank you!

[maxime-clem]

You can find detailed description of the planning modules in the Autoware Universe Documentation.
Here is the page about the detection area module: https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_detection_area_module/

[hzkkk1997]

Thank you very much for your reply. I have read this document before, but I still don't understand what area is usually marked with detection_area in vector maps.

[maxime-clem]

Example use case for the detection_area in a warehouse environment:

• Define an area where humans will stand while waiting for the autonomous vehicle to stop.
• When a pointcloud is detected in the detection area, ego stops at the predetermined point.
• Once ego is stopped, the human can come load/unload the ego vehicle.
• Once the human leaves the detection area, the ego vehicle can start moving again.

[hzkkk1997]

Thank you very much for your reply! The scenario you describe of people loading and unloading goods in a specific area seems to be very similar to the functionality of detection_area. So for different scenes, the meaning of detection_area seems to change, such as the scene you mentioned above, detection_area is actually a loading and unloading area.