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Package Summary
| Tags | No category tags. |
| Version | 0.44.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-04-25 |
| Dev Status | UNKNOWN |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
ros node for autoware_control_validator
Additional Links
No additional links.
Maintainers
- Kyoichi Sugahara
- Takamasa Horibe
- Makoto Kurihara
- Mamoru Sobue
- Takayuki Murooka
Authors
- Kyoichi Sugahara
- Takamasa Horibe
- Makoto Kurihara
Control Validator
The control_validator is a module that checks the validity of the output of the control component. The status of the validation can be viewed in the /diagnostics topic.
Supported features
The following features are supported for the validation and can have thresholds set by parameters. The listed features below does not always correspond to the latest implementation.
| Description | Arguments | Diagnostic equation |
|---|---|---|
| Inverse velocity: Measured velocity has a different sign from the target velocity. | measured velocity $v$, target velocity $\hat{v}$, and velocity parameter $c$ | $v \hat{v} < 0, \quad \lvert v \rvert > c$ |
| Overspeed: Measured speed exceeds target speed significantly. | measured velocity $v$, target velocity $\hat{v}$, ratio parameter $r$, and offset parameter $c$ | $\lvert v \rvert > (1 + r) \lvert \hat{v} \rvert + c$ |
| Overrun estimation: estimate overrun even if decelerate by assumed rate. | assumed deceleration, assumed delay |
- Deviation check between reference trajectory and predicted trajectory : invalid when the largest deviation between the predicted trajectory and reference trajectory is greater than the given threshold.
Inputs/Outputs
Inputs
The control_validator takes in the following inputs:
| Name | Type | Description |
|---|---|---|
~/input/kinematics |
nav_msgs/Odometry | ego pose and twist |
~/input/reference_trajectory |
autoware_planning_msgs/Trajectory | reference trajectory which is outputted from planning module to to be followed |
~/input/predicted_trajectory |
autoware_planning_msgs/Trajectory | predicted trajectory which is outputted from control module |
Outputs
It outputs the following:
| Name | Type | Description |
|---|---|---|
~/output/validation_status |
control_validator/ControlValidatorStatus | validator status to inform the reason why the trajectory is valid/invalid |
/diagnostics |
diagnostic_msgs/DiagnosticStatus | diagnostics to report errors |
Parameters
The following parameters can be set for the control_validator:
System parameters
| Name | Type | Description | Default value |
|---|---|---|---|
publish_diag |
bool | if true, diagnostics msg is published. | true |
diag_error_count_threshold |
int | the Diag will be set to ERROR when the number of consecutive invalid trajectory exceeds this threshold. (For example, threshold = 1 means, even if the trajectory is invalid, the Diag will not be ERROR if the next trajectory is valid.) | true |
display_on_terminal |
bool | show error msg on terminal | true |
Algorithm parameters
Thresholds
The input trajectory is detected as invalid if the index exceeds the following thresholds.
| Name | Type | Description | Default value |
|---|---|---|---|
thresholds.max_distance_deviation |
double | invalid threshold of the max distance deviation between the predicted path and the reference trajectory [m] | 1.0 |
thresholds.rolling_back_velocity |
double | threshold velocity to valid the vehicle velocity [m/s] | 0.5 |
thresholds.over_velocity_offset |
double | threshold velocity offset to valid the vehicle velocity [m/s] | 2.0 |
thresholds.over_velocity_ratio |
double | threshold ratio to valid the vehicle velocity [*] | 0.2 |
thresholds.overrun_stop_point_dist |
double | threshold distance to overrun stop point [m] | 0.8 |
thresholds.acc_error_offset |
double | threshold ratio to valid the vehicle acceleration [*] | 0.8 |
thresholds.acc_error_scale |
double | threshold acceleration to valid the vehicle acceleration [m] | 0.2 |
thresholds.will_overrun_stop_point_dist |
double | threshold distance to overrun stop point [m] | 1.0 |
thresholds.assumed_limit_acc |
double | assumed acceleration for over run estimation [m] | 5.0 |
thresholds.assumed_delay_time |
double | assumed delay for over run estimation [m] | 0.2 |
CHANGELOG
Changelog for package autoware_control_validator
0.44.0 (2025-04-18)
- Merge remote-tracking branch 'origin/main' into humble
- feat(control_validator): add over run estimation feature (#10422)
- refactor(control validaor): refactor control_validator (#10363)
- fix(control_validator): memory-related crash when processing large
trajectories
(#10372)
- fix(control_validator): momory
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>
- fix(control validator): combine callback functions to fix error count increment bug (#10355)
- fix(control_validator): fix sign miss and add code test (#10341)
- feat(control_validator)!: add acceleration check (#10326)
- Contributors: Ryohsuke Mitsudome, Shumpei Wakabayashi, Yuki TAKAGI
0.43.0 (2025-03-21)
- Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
- chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
- feat(control_validator)!: add overrun check (#10236)
- feat(control_validator): add diag to check control component
latency
(#10240)
- feat(control_validator): add diag to check control component latency
* fix: missing param ---------
- Contributors: Hayato Mizushima, Satoshi OTA, Yuki TAKAGI, Yutaka Kondo
0.42.0 (2025-03-03)
- Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
- feat(autoware_utils): replace autoware_universe_utils with autoware_utils (#10191)
- Contributors: Fumiya Watanabe, 心刚
0.41.2 (2025-02-19)
- chore: bump version to 0.41.1 (#10088)
- Contributors: Ryohsuke Mitsudome
0.41.1 (2025-02-10)
0.41.0 (2025-01-29)
- Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
- feat: tier4_debug_msgs to autoware_internal_debug_msgs in file contr… (#9837) feat: tier4_debug_msgs to autoware_internal_debug_msgs in file control/autoware_control_validator
- Contributors: Fumiya Watanabe, Vishal Chauhan
0.40.0 (2024-12-12)
- Merge branch 'main' into release-0.40.0
- Revert "chore(package.xml): bump version to 0.39.0 (#9587)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
- fix: fix ticket links in CHANGELOG.rst (#9588)
- chore(package.xml): bump version to 0.39.0
(#9587)
- chore(package.xml): bump version to 0.39.0
- fix: fix ticket links in CHANGELOG.rst
* fix: remove unnecessary diff ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>
- fix: fix ticket links in CHANGELOG.rst (#9588)
- fix(cpplint): include what you use - control (#9565)
- 0.39.0
- update changelog
- Merge commit '6a1ddbd08bd' into release-0.39.0
- fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
- feat: suppress warning/error of the empty predicted trajectory by MPC (#9373)
- fix(autoware_control_validator): fix clang-diagnostic-unused-private-field (#9381)
- fix(control): missing dependency in control components (#9073)
- fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
- chore(package.xml): bump version to 0.38.0
(#9266)
(#9284)
- unify package.xml version to 0.37.0
- remove system_monitor/CHANGELOG.rst
- add changelog
* 0.38.0
- Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Ryuta Kambe, Takayuki Murooka, Yutaka Kondo, ぐるぐる
0.39.0 (2024-11-25)
- Merge commit '6a1ddbd08bd' into release-0.39.0
- fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
- fix(control): missing dependency in control components (#9073)
- fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
- chore(package.xml): bump version to 0.38.0
(#9266)
(#9284)
- unify package.xml version to 0.37.0
- remove system_monitor/CHANGELOG.rst
- add changelog
* 0.38.0
- Contributors: Esteve Fernandez, Yutaka Kondo, ぐるぐる
0.38.0 (2024-11-08)
- unify package.xml version to 0.37.0
- feat(control_validator): add hold and lpf (#9120)
- feat(costmap_generator, control_validator, scenario_selector,
surround_obstacle_checker, vehicle_cmd_gate): add processing
time pub.
(#9065)
- feat(costmap_generator, control_validator, scenario_selector, surround_obstacle_checker, vehicle_cmd_gate): Add: processing_time_pub
- fix: pre-commit
- feat(costmap_generator): fix: No output when not Active.
- fix: clang-format
* Re: fix: clang-format ---------
- fix(control): align the parameters with launcher (#8789) align the control parameters
- feat(autoware_control_validator): refactoring & testing
(#8096)
- refactoring
- updating...
- update
- fix
- fix
- Update CMakeLists.txt
* use yaml to load vehicle info ---------
- fix(control_validator): fix param names and doc
(#8104)
- fix
-
feat(control_validator)!: add velocity check (#7806) * add velocity check ---------
- refactor(universe_utils/motion_utils)!: add autoware namespace (#7594)
- refactor(motion_utils)!: add autoware prefix and include dir (#7539) refactor(motion_utils): add autoware prefix and include dir
- feat(autoware_universe_utils)!: rename from tier4_autoware_utils (#7538) Co-authored-by: kosuke55 <<kosuke.tnp@gmail.com>>
- refactor(control)!: refactor directory structures of the control
checkers
(#7524)
- aeb
- control_validator
- lane_departure_checker
- shift_decider
* fix
- feat(autoware_control_validator): add polling subcribers
(#7426)
- add polling subs
* delete extra line ---------
- fix(autoware_control_validator): fix vehicle info utils (#7417)
- refactor(control_validator)!: prefix package and namespace with
autoware
(#7304)
- rename folders
- rename add prefix
- change param path
- fix pluggin problem
- fix extra prefixes
- change back launchers
- add namespace to address conflict
* delete stubborn file ---------
- Contributors: Fumiya Watanabe, Kazunori-Nakajima, Kosuke Takeuchi, Takayuki Murooka, Yuki TAKAGI, Yukinari Hisaki, Yutaka Kondo, Zhe Shen, danielsanchezaran
0.26.0 (2024-04-03)
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.
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
- launch/control_validator.launch.xml
-
- control_validator_param_path [default: $(find-pkg-share autoware_control_validator)/config/control_validator.param.yaml]
- input_reference_trajectory [default: /planning/scenario_planning/trajectory]
- input_predicted_trajectory [default: /control/trajectory_follower/lateral/predicted_trajectory]
Messages
Services
No service files found
Plugins
No plugins found.
Recent questions tagged autoware_control_validator at Robotics Stack Exchange
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