Remaining Distance and Time Calculator

Role

This package aims to provide mission remaining distance and remaining time calculations.

Activation and Timing

• The calculations are activated once we have a route planned for a mission in Autoware.
• The calculations are triggered timely based on the update_rate parameter.
• The calculations are skipped if the scenario is PARKING, and the remaining time and distance values are set to 0.0.

Module Parameters

Inner-workings

Remaining Distance Calculation

• The remaining distance calculation is based on getting the remaining shortest path between the current vehicle pose and goal pose using lanelet2 routing APIs.
• The remaining distance is calculated by summing the 2D length of remaining shortest path, with exception to current lanelet and goal lanelet.
  • For the current lanelet, the distance is calculated from the current vehicle position to the end of that lanelet.
  • For the goal lanelet, the distance is calculated from the start of the lanelet to the goal pose in this lanelet.
• When there is only one lanelet remaining, the distance is calculated by getting the 2D distance between the current vehicle pose and goal pose.
• Checks are added to handle cases when current lanelet, goal lanelet, or routing graph are not valid to prevent node process die.
  • In such cases when, last valid remaining distance and time are maintained.

Remaining Time Calculation

• The remaining time currently depends on a simple equation of motion by getting the maximum velocity limit.
• The remaining distance is calculated by dividing the remaining distance by the maximum velocity limit.
• A check is added to the remaining time calculation to make sure that maximum velocity limit is greater than zero. This prevents division by zero or getting negative time value.

Future Work

• Find a more efficient way for remaining distance calculation instead of regularly searching the graph for finding the remaining shortest path.
• Engage more sophisticated motion models for more accurate remaining time calculations.

Changelog for package autoware_remaining_distance_time_calculator

0.44.0 (2025-04-18)

• Merge remote-tracking branch 'origin/main' into humble
• fix(planning): apply THROTTLE to frequent log (#10419)
• Contributors: Ryohsuke Mitsudome, Takayuki Murooka

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!: replace VelocityLimit messages with autoware_internal_planning_msgs (#10273)
• Contributors: Hayato Mizushima, Ryohsuke Mitsudome, 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)
• feat!: replace scenario msg from tier4_planning_msgs to autoware_internal_planning_msgs (#10180)
• 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(remaining_distance_time_calculator): integrate generate_parameter_library (#8826)
  • add parameter description
  • use parameter listener
  • supress deprecated error

  * change scope of compile option to private ---------

• feat(remaining_distance_time_calculator): skip calculation during parking (#9013)
• Contributors: Fumiya Watanabe, Ismet Atabay, Mitsuhiro Sakamoto

0.40.0 (2024-12-12)

• 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)
• 0.39.0
• update changelog
• 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

• Contributors: Esteve Fernandez, Fumiya Watanabe, Ryohsuke Mitsudome, Yutaka Kondo

0.39.0 (2024-11-25)

• 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

• Contributors: Esteve Fernandez, Yutaka Kondo

0.38.0 (2024-11-08)

• unify package.xml version to 0.37.0
• fix: change remaning distance when the size of route is 1 (#8852)
• feat: add [autoware_]{.title-ref} prefix to [lanelet2_extension]{.title-ref} (#7640)
• 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(route_handler)!: rename to include/autoware/{package_name} (#7530) refactor(route_handler)!: rename to include/autoware/{package_name}
• refactor(test_utils): move to common folder (#7158)
  • Move autoware planning test manager to autoware namespace
  • fix package share directory for behavior path planner
  • renaming files and directory
  • rename variables that has planning_test_utils in its name.
  • use autoware namespace for test utils
  • move folder to common
  • update .pages file
  • fix test error
  • removed obstacle velocity limiter test artifact

  * remove namespace from planning validator, it has using keyword ---------

• refactor(route_handler): route handler add autoware prefix (#7341)
  • rename route handler package
  • update packages dependencies
  • update include guards
  • update includes
  • put in autoware namespace
  • fix formats

  * keep header and source file name as before ---------

• feat!: replace autoware_auto_msgs with autoware_msgs for planning modules (#7246) 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>>
• feat: add autoware_remaining_distance_time_calculator and overlay (#6855)
• Contributors: Ahmed Ebrahim, Kosuke Takeuchi, Ryohsuke Mitsudome, Takayuki Murooka, Yutaka Kondo, Zulfaqar Azmi, mkquda, shulanbushangshu

0.26.0 (2024-04-03)