traffic_light_arbiter

Purpose

This package receives traffic signals from perception and external (e.g., V2X) components and combines them using either a confidence-based or a external-preference based approach.

TrafficLightArbiter

A node that merges traffic light/signal state from image recognition and external (e.g., V2X) systems to provide to a planning component.

Inputs / Outputs

Input

Name	Type	Description
~/sub/vector_map	autoware_auto_mapping_msgs::msg::HADMapBin	The vector map to get valid traffic signal ids.
~/sub/perception_traffic_signals	autoware_perception_msgs::msg::TrafficSignalArray	The traffic signals from the image recognition pipeline.
~/sub/external_traffic_signals	autoware_perception_msgs::msg::TrafficSignalArray	The traffic signals from an external system.

Output

Name	Type	Description
~/pub/traffic_signals	autoware_perception_msgs::msg::TrafficSignalArray	The merged traffic signal state.

Parameters

Core Parameters

Name	Type	Default Value	Description
external_time_tolerance	double	5.0	The duration in seconds an external message is considered valid for merging
perception_time_tolerance	double	1.0	The duration in seconds a perception message is considered valid for merging
external_priority	bool	false	Whether or not externals signals take precedence over perception-based ones. If false, the merging uses confidence as a criteria