feat(autoware_behavior_velocity_traffic_light_module): support arrow-aware passing judgment on yellow signal #2574
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Signed-off-by: toki-1441 <[email protected]>
Signed-off-by: toki-1441 <[email protected]>
shmpwk
added
tag:require-cuda-build-and-test
run:build-and-test-differential
Signed-off-by: toki-1441 <[email protected]>
shmpwk
added
run:build-and-test-differential
Signed-off-by: toki-1441 <[email protected]>
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Ticket: ticket
Description
cherry pick: autowarefoundation#11704
Overview:
This PR improves the stop/pass judgment logic for yellow signals in turn lanes equipped with traffic light arrows. It prevents unnecessary stops when the signal transitions from "Green" to "Yellow," enabling smoother traffic flow.
Problem:
Currently, when a traffic light transitions in the sequence of "Green -> Yellow -> Red + Arrow" while the vehicle is in a left/right turn lane, the system generates a stop line during the Yellow phase, causing the vehicle to stop. This behavior can obstruct traffic flow in situations where the vehicle should ideally proceed through the intersection on yellow to complete the turn (or wait for the arrow signal inside the intersection).
Test
Screencast.from.2025.11.11.10.52.09.webm