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autoware_behavior_velocity_planner package from autoware_core repo

autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_localization_util autoware_stop_filter autoware_twist2accel autoware_core_map autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_ground_filter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

API Docs
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Package Summary

Tags No category tags.
Version 1.0.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/autowarefoundation/autoware_core.git
VCS Type git
VCS Version main
Last Updated 2025-04-01
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The autoware_behavior_velocity_planner package

Additional Links

No additional links.

Maintainers

  • Mamoru Sobue
  • Takayuki Murooka
  • Satoshi Ota
  • Kyoichi Sugahara
  • Taiki Tanaka
  • Kosuke Takeuchi
  • Tomohito Ando
  • Makoto Kurihara
  • Maxime Clement
  • Tomoya Kimura
  • Shumpei Wakabayashi

Authors

  • Taiki Tanaka
  • Mamoru Sobue
  • Satoshi Ota
  • Kyoichi Sugahara
  • Kosuke Takeuchi
  • Yutaka Shimizu
  • Tomohito Ando
  • Yukihiro Saito
planning/behavior_velocity_planner/autoware_behavior_velocity_planner/README.md

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

Changelog for package autoware_behavior_velocity_planner

1.0.0 (2025-03-31)

  • chore: update version in package.xml
  • feat: port autoware_behavior_velocity_planner from autoware.universe to autoware.core (#230) Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>> Co-authored-by: 心刚 <<90366790+liuXinGangChina@users.noreply.github.com>>
  • Contributors: Ryohsuke Mitsudome, storrrrrrrrm

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

  • launch/behavior_velocity_planner.launch.xml
      • common_param_path
      • vehicle_param_file
      • nearest_search_param_path
      • behavior_velocity_planner_launch_modules
      • behavior_velocity_config_path
      • behavior_velocity_smoother_type_param_path
      • behavior_velocity_planner_param_path
      • behavior_velocity_planner_common_param_path
      • behavior_velocity_planner_blind_spot_module_param_path
      • behavior_velocity_planner_crosswalk_module_param_path
      • behavior_velocity_planner_walkway_module_param_path
      • behavior_velocity_planner_detection_area_module_param_path
      • behavior_velocity_planner_intersection_module_param_path
      • behavior_velocity_planner_stop_line_module_param_path
      • behavior_velocity_planner_traffic_light_module_param_path
      • behavior_velocity_planner_virtual_traffic_light_module_param_path
      • behavior_velocity_planner_occlusion_spot_module_param_path
      • behavior_velocity_planner_no_stopping_area_module_param_path
      • behavior_velocity_planner_run_out_module_param_path
      • behavior_velocity_planner_speed_bump_module_param_path
      • behavior_velocity_planner_no_drivable_lane_module_param_path

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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