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Package Summary
| Tags | No category tags. |
| Version | 0.43.0 |
| License | Apache 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-04-03 |
| 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
Additional Links
Maintainers
- Berkay Karaman
- Junya Sasaki
Authors
- Berkay Karaman
Predicted Path Checker
Purpose
The Predicted Path Checker package is designed for autonomous vehicles to check the predicted path generated by control modules. It handles potential collisions that the planning module might not be able to handle and that in the brake distance. In case of collision in brake distance, the package will send a diagnostic message labeled “ERROR” to alert the system to send emergency and in the case of collisions in outside reference trajectory, it sends pause request to pause interface to make the vehicle stop.
Algorithm
The package algorithm evaluates the predicted trajectory against the reference trajectory and the predicted objects in the environment. It checks for potential collisions and, if necessary, generates an appropriate response to avoid them ( emergency or pause request).
Inner Algorithm
cutTrajectory() -> It cuts the predicted trajectory with input length. Length is calculated by multiplying the velocity of ego vehicle with “trajectory_check_time” parameter and “min_trajectory_length”.
filterObstacles() -> It filters the predicted objects in the environment. It filters the objects which are not in front of the vehicle and far away from predicted trajectory.
checkTrajectoryForCollision() -> It checks the predicted trajectory for collision with the predicted objects. It calculates both polygon of trajectory points and predicted objects and checks intersection of both polygons. If there is an intersection, it calculates the nearest collision point. It returns the nearest collision point of polygon and the predicted object. It also checks predicted objects history which are intersect with the footprint before to avoid unexpected behaviors. Predicted objects history stores the objects if it was detected below the “chattering_threshold” seconds ago.
If the “enable_z_axis_obstacle_filtering” parameter is set to true, it filters the predicted objects in the Z-axis by using “z_axis_filtering_buffer”. If the object does not intersect with the Z-axis, it is filtered out.
calculateProjectedVelAndAcc() -> It calculates the projected velocity and acceleration of the predicted object on predicted trajectory’s collision point’s axes.
isInBrakeDistance() -> It checks if the stop point is in brake distance. It gets relative velocity and acceleration of ego vehicle with respect to the predicted object. It calculates the brake distance, if the point in brake distance, it returns true.
isItDiscretePoint() -> It checks if the stop point on predicted trajectory is discrete point or not. If it is not discrete point, planning should handle the stop.
isThereStopPointOnRefTrajectory() -> It checks if there is a stop point on reference trajectory. If there is a stop point before the stop index, it returns true. Otherwise, it returns false, and node is going to call pause interface to make the vehicle stop.
Inputs
| Name | Type | Description |
|---|---|---|
~/input/reference_trajectory |
autoware_planning_msgs::msg::Trajectory |
Reference trajectory |
~/input/predicted_trajectory |
autoware_planning_msgs::msg::Trajectory |
Predicted trajectory |
~/input/objects |
autoware_perception_msgs::msg::PredictedObject |
Dynamic objects in the environment |
~/input/odometry |
nav_msgs::msg::Odometry |
Odometry message of vehicle to get current velocity |
~/input/current_accel |
geometry_msgs::msg::AccelWithCovarianceStamped |
Current acceleration |
/control/vehicle_cmd_gate/is_paused |
tier4_control_msgs::msg::IsPaused |
Current pause state of the vehicle |
Outputs
| Name | Type | Description |
|---|---|---|
~/debug/marker |
visualization_msgs::msg::MarkerArray |
Marker for visualization |
~/debug/virtual_wall |
visualization_msgs::msg::MarkerArray |
Virtual wall marker for visualization |
/control/vehicle_cmd_gate/set_pause |
tier4_control_msgs::srv::SetPause |
Pause service to make the vehicle stop |
/diagnostics |
diagnostic_msgs::msg::DiagnosticStatus |
Diagnostic status of vehicle |
Parameters
Node Parameters
| Name | Type | Description | Default value |
|---|---|---|---|
update_rate |
double |
The update rate [Hz] | 10.0 |
delay_time |
double |
he time delay considered for the emergency response [s] | 0.17 |
max_deceleration |
double |
Max deceleration for ego vehicle to stop [m/s^2] | 1.5 |
resample_interval |
double |
Interval for resampling trajectory [m] | 0.5 |
stop_margin |
double |
The stopping margin [m] | 0.5 |
ego_nearest_dist_threshold |
double |
The nearest distance threshold for ego vehicle [m] | 3.0 |
ego_nearest_yaw_threshold |
double |
The nearest yaw threshold for ego vehicle [rad] | 1.046 |
min_trajectory_check_length |
double |
The minimum trajectory check length in meters [m] | 1.5 |
trajectory_check_time |
double |
The trajectory check time in seconds. [s] | 3.0 |
distinct_point_distance_threshold |
double |
The distinct point distance threshold [m] | 0.3 |
distinct_point_yaw_threshold |
double |
The distinct point yaw threshold [deg] | 5.0 |
filtering_distance_threshold |
double |
It ignores the objects if distance is higher than this [m] | 1.5 |
use_object_prediction |
bool |
If true, node predicts current pose of the objects wrt delta time [-] | true |
Collision Checker Parameters
| Name | Type | Description | Default value |
|---|---|---|---|
width_margin |
double |
The width margin for collision checking [Hz] | 0.2 |
chattering_threshold |
double |
The chattering threshold for collision detection [s] | 0.2 |
z_axis_filtering_buffer |
double |
The Z-axis filtering buffer [m] | 0.3 |
enable_z_axis_obstacle_filtering |
bool |
A boolean flag indicating if Z-axis obstacle filtering is enabled | false |
\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^ Changelog for package autoware_predicted_path_checker \^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^
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)
- Contributors: Hayato Mizushima, 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)
- fix: add missing includes to autoware_universe_utils (#10091)
- Contributors: Fumiya Watanabe, Ryohsuke Mitsudome, 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: apply [autoware_]{.title-ref} prefix for
[predicted_path_checker]{.title-ref}
(#9985)
* feat(predicted_path_checker): apply [autoware_]{.title-ref}
prefix (see below): Note:
* In this commit, I did not organize a folder structure. The folder
structure will be organized in the next some commits.
- The changes will follow the Autoware's guideline as below:
- https://autowarefoundation.github.io/autoware-documentation/main/contributing/coding-guidelines/ros-nodes/directory-structure/#package-folder
- rename(predicted_path_checker): move headers under [include/autoware]{.title-ref}
- Fixes due to this changes for .hpp/.cpp files will be applied in the next commit
- fix(predicted_path_checker): fix include header paths
- To follow the previous commit
- rename: [predicted_path_checker]{.title-ref} => [autoware_predicted_path_checker]{.title-ref}
- style(pre-commit): autofix
- bug(autoware_predicted_path_checker): fix inconsistent namespacings
- bug(autoware_predicted_path_checker): do not change node name
- This might contaminate topic name
- style(pre-commit): autofix
* bug(tier4_control_launch): fix wrong package/plugin names ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>
- Contributors: Fumiya Watanabe, Junya Sasaki
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)
- 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
- refactor(component_interface_utils): prefix package and namespace with autoware (#9092)
- Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo
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: 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
- refactor(component_interface_utils): prefix package and namespace with autoware (#9092)
- Contributors: Esteve Fernandez, Yutaka Kondo
0.38.0 (2024-11-08)
- unify package.xml version to 0.37.0
- refactor(component_interface_specs): prefix package and namespace with autoware (#9094)
- refactor(autoware_interpolation): prefix package and namespace with autoware (#8088) Co-authored-by: kosuke55 <<kosuke.tnp@gmail.com>>
- fix(predicted_path_checker): fix constParameterReference (#8038) fix:constParameterReference
- 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(vehicle_info_utils)!: prefix package and namespace with
autoware
(#7353)
- chore(autoware_vehicle_info_utils): rename header
- chore(bpp-common): vehicle info
- chore(path_optimizer): vehicle info
- chore(velocity_smoother): vehicle info
- chore(bvp-common): vehicle info
- chore(static_centerline_generator): vehicle info
- chore(obstacle_cruise_planner): vehicle info
- chore(obstacle_velocity_limiter): vehicle info
- chore(mission_planner): vehicle info
- chore(obstacle_stop_planner): vehicle info
- chore(planning_validator): vehicle info
- chore(surround_obstacle_checker): vehicle info
- chore(goal_planner): vehicle info
- chore(start_planner): vehicle info
- chore(control_performance_analysis): vehicle info
- chore(lane_departure_checker): vehicle info
- chore(predicted_path_checker): vehicle info
- chore(vehicle_cmd_gate): vehicle info
- chore(obstacle_collision_checker): vehicle info
- chore(operation_mode_transition_manager): vehicle info
- chore(mpc): vehicle info
- chore(control): vehicle info
- chore(common): vehicle info
- chore(perception): vehicle info
- chore(evaluator): vehicle info
- chore(freespace): vehicle info
- chore(planning): vehicle info
- chore(vehicle): vehicle info
- chore(simulator): vehicle info
- chore(launch): vehicle info
- chore(system): vehicle info
- chore(sensing): vehicle info
* fix(autoware_joy_controller): remove unused deps ---------
- feat!: replace autoware_auto_msgs with autoware_msgs for control modules (#7240) Co-authored-by: Cynthia Liu <<cynthia.liu@autocore.ai>> Co-authored-by: NorahXiong <<norah.xiong@autocore.ai>> Co-authored-by: beginningfan <<beginning.fan@autocore.ai>>
- Contributors: Esteve Fernandez, Kosuke Takeuchi, Ryohsuke Mitsudome, Satoshi OTA, Takayuki Murooka, Yutaka Kondo, kobayu858
0.26.0 (2024-04-03)
- fix(predicted_path_checker): check if trajectory size (#6730) check trajectory size Co-authored-by: beyza <<bnk@leodrive.ai>>
- refactor(motion_utils): change directory name of tmp_conversion
(#5908)
- change .hpp name
- change .cpp name
- correct the #inlcude and #ifndef
- change the CMakeLists.txt
- correct the dependencies referring to tmp_conversion
- style(pre-commit): autofix
- change all the tmp_conversion to conversion in all the autoware_universe
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>
- feat(predicted_path_checker): check predicted trajectory to avoid
collisions planning can not handle
(#2528)
- feat(predicted_path_checker): check predicted trajectory to avoid collisions planning can not handle (#2528)
* Added pkg to control.launch.py ---------
- Contributors: Berkay Karaman, Zhe Shen, beyzanurkaya
Wiki Tutorials
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/predicted_path_checker.launch.xml
-
- input/objects [default: /perception/object_recognition/objects]
- input/reference_trajectory [default: /planning/scenario_planning/trajectory]
- input/predicted_trajectory [default: /control/trajectory_follower/lateral/predicted_trajectory]
- input/odometry [default: /localization/kinematic_state]
- input/current_accel [default: /localization/acceleration]
- config_file [default: $(find-pkg-share autoware_predicted_path_checker)/config/predicted_path_checker.param.yaml]
- vehicle_info_param_file [default: $(find-pkg-share autoware_vehicle_info_utils)/config/vehicle_info.param.yaml]