# Protective area checker using LiDAR

**URL:** <https://discourse.openrobotics.org/t/protective-area-checker-using-lidar/10468>\
**Category:** Autoware\
**Created:** [August 28, 2019, 6:20pm UTC](https://discourse.openrobotics.org/t/protective-area-checker-using-lidar/10468 "2019-08-28T18:20:37Z")\
**Posts on this page:** 3\
**Page:** 1

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**Author:** ![yuma-nihei](https://avatars.discourse-cdn.com/v4/letter/y/b38774/32.png) [@yuma-nihei](https://discourse.openrobotics.org/u/yuma-nihei)\
**Post date:** [August 28, 2019, 6:20pm UTC](https://discourse.openrobotics.org/t/protective-area-checker-using-lidar/10468/1 "2019-08-28T18:20:38Z")

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Propose protective area checker. Please give us feedback as you may access the control system in a different pipeline than before.

The proposed function is to detect an obstacle in a specific area close to the vehicle and immediately stop (or slow down). When used for emergency stop, a simple implementation and minimal pipeline would be desirable.  
The outline is described below.

_ **Usage** _

- Emergency stop or slowdown trigger for obstacles in close range

_ **Range of detection** _

- Range where the vehicle passes in a short time (approximately 0.5-1 [sec])

_ **Input** _

- LiDAR point cloud after noise and ground removal (not using advanced recognition)
- Current speed / angular speed
- (Target speed / angular speed)
- (Target acceleration / angular acceleration)

_ **Output** _

- Trigger for emergency stop / slowdown
- Detected point cloud (only for visualize or debug)

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**Author:** ![JWhitleyWork](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/jwhitleywork/32/5614_2.png) [@JWhitleyWork](https://discourse.openrobotics.org/u/JWhitleyWork)\
**Post date:** [August 29, 2019, 1:00pm UTC](https://discourse.openrobotics.org/t/protective-area-checker-using-lidar/10468/2 "2019-08-29T13:00:36Z")

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@yuma-nihei Would you mind creating a new `feature_request` issue at [Issues · MovedToGitHub · GitLab](https://gitlab.com/groups/autowarefoundation/autoware.ai/-/issues)?

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**Author:** ![yuma-nihei](https://avatars.discourse-cdn.com/v4/letter/y/b38774/32.png) [@yuma-nihei](https://discourse.openrobotics.org/u/yuma-nihei)\
**Post date:** [September 4, 2019, 6:02am UTC](https://discourse.openrobotics.org/t/protective-area-checker-using-lidar/10468/3 "2019-09-04T06:02:15Z")

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Thank you, I raised the following issue.

> **[Protective area checker (#13) · Issues · Autoware Foundation / MovedToGitHub...](https://gitlab.com/autowarefoundation/autoware.ai/core_perception/-/issues/13)**
>
> Description Add obstacle detectors that function in specific areas close to the vehicle. This node is for...