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Behavior Velocity Planner

Overview

behavior_velocity_planner is a planner that adjust velocity based on the traffic rules. It loads modules as plugins. Please refer to the links listed below for detail on each module.

Architecture

When each module plans velocity, it considers based on base_link(center of rear-wheel axis) pose. So for example, in order to stop at a stop line with the vehicles' front on the stop line, it calculates base_link position from the distance between base_link to front and modifies path velocity from the base_link position.

set_stop_velocity

Input topics

Name Type Description
~input/path_with_lane_id tier4_planning_msgs::msg::PathWithLaneId path with lane_id
~input/vector_map autoware_map_msgs::msg::LaneletMapBin vector map
~input/vehicle_odometry nav_msgs::msg::Odometry vehicle velocity
~input/dynamic_objects autoware_perception_msgs::msg::PredictedObjects dynamic objects
~input/no_ground_pointcloud sensor_msgs::msg::PointCloud2 obstacle pointcloud
~/input/compare_map_filtered_pointcloud sensor_msgs::msg::PointCloud2 obstacle pointcloud filtered by compare map. Note that this is used only when the detection method of run out module is Points.
~input/traffic_signals autoware_perception_msgs::msg::TrafficLightGroupArray traffic light states

Output topics

Name Type Description
~output/path autoware_planning_msgs::msg::Path path to be followed
~output/stop_reasons tier4_planning_msgs::msg::StopReasonArray reasons that cause the vehicle to stop

Node parameters

Parameter Type Description
launch_modules vector<string> module names to launch
forward_path_length double forward path length
backward_path_length double backward path length
max_accel double (to be a global parameter) max acceleration of the vehicle
system_delay double (to be a global parameter) delay time until output control command
delay_response_time double (to be a global parameter) delay time of the vehicle's response to control commands

Traffic Light Handling in sim/real

The handling of traffic light information varies depending on the usage. In the below table, the traffic signal topic element for the corresponding lane is denoted as info, and if info is not available, it is denoted as null.

module \ case info is null info is not null
intersection_occlusion(is_simulation = *)
  • info is the latest non-null information
 GO(occlusion is ignored) intersection_occlusion uses the latest non UNKNOWN observation in the queue up to present.
  • If info is GREEN or UNKNOWN, occlusion is cared
  • If info is RED or YELLOW, occlusion is ignored(GO)
  • NOTE: Currently timeout is not considered
traffic_light(sim, is_simulation = true)
  • info is current information
 GO traffic_light uses the perceived traffic light information at present directly.
  • If info is timeout, STOP whatever the color is
  • If info is not timeout, then act according to the color. If info is UNKNOWN, STOP
{: rowspan=2}
traffic_light(real, is_simulation = false)
  • info is current information
 STOP &#8288 {: style="padding:0"}
crosswalk with Traffic Light(is_simulation = *)
  • info is current information
 default
  • If disable_yield_for_new_stopped_object is true, each sub scene_module ignore newly detected pedestrians after module instantiation.
  • If ignore_with_traffic_light is true, occlusion detection is skipped.
map_based_prediction(is_simulation = *)
  • info is current information
 default If a pedestrian traffic light is
  • RED, surrounding pedestrians are not predicted.
  • GREEN, stopped pedestrians are not predicted.