Traffic light recognition simulation

By default, traffic lights on the map are all treated as if they are set to green. As a result, when a path is created that passed through an intersection with a traffic light, the ego vehicle will drive through the intersection without stopping.

The following steps explain how to set and reset traffic lights in order to test how the Planning component will respond.

Set traffic light

By default, Rviz doesn't display the IDs of traffic lights on the map. To enable the display of traffic light IDs, follow these steps:

1. In the Displays panel, find the traffic_light_id topic by toggling the triangle icons next to Map > Lanelet2VectorMap > Namespaces.
2. Check the traffic_light_id checkbox.
3. Reload the topic by clicking the Map checkbox twice.
4. Have a closer look at the IDs by zooming in the region or by changing the View type.

1. Go to Panels -> Add new panel, select tier4_traffic_light_rviz_plugin/TrafficLightPublishPanel, and then press OK.

2. In TrafficLightPublishPanel, set the ID and color of the traffic light.

3. Click the SET button.

4. Finally, click the PUBLISH button to send the traffic light status to the simulator. Any planned path that goes past the selected traffic light will then change accordingly.

Update/Reset traffic light

You can update the color of the traffic light by selecting the next color (in the image it is GREEN) and clicking SET button. In the image the traffic light in front of the ego vehicle changed from RED to GREEN and the vehicle restarted.

To remove a traffic light from TrafficLightPublishPanel, click the RESET button.