Planning

This page provides specific specifications about the Interface of the Planning Component. Please refer to the planning architecture design document for high-level concepts and data flow.

TODO: The detailed definitions (meanings of elements included in each topic) are not described yet, need to be updated.

Input

From Map Component

Name	Topic	Type	Description
Vector Map	/map/vector_map	autoware_auto_mapping_msgs/msg/HADMapBin	Map of the environment where the planning takes place.

From Localization Component

Name	Topic	Type	Description
Vehicle Kinematic State	/localization/kinematic_state	nav_msgs/msg/Odometry	Current position, orientation and velocity of ego.
Vehicle Acceleration	/localization/acceleration	geometry_msgs/msg/AccelWithCovarianceStamped	Current acceleration of ego.

TODO: acceleration information should be merged into the kinematic state.

From Perception Component

Name	Topic	Type	Description
Objects	/perception/object_recognition/objects	autoware_auto_perception_msgs/msg/PredictedObjects	Set of perceived objects around ego that need to be avoided or followed when planning a trajectory. This contains semantics information such as a object class (e.g. vehicle, pedestrian, etc) or a shape of the objects.
Obstacles	/perception/obstacle_segmentation/pointcloud	sensor_msgs/msg/PointCloud2	Set of perceived obstacles around ego that need to be avoided or followed when planning a trajectory. This only contains a primitive information of the obstacle. No shape nor velocity information.
Occupancy Grid Map	/perception/occupancy_grid_map/map	nav_msgs/msg/OccupancyGrid	Contains the presence of obstacles and blind spot information (represented as UNKNOWN).
Traffic Signal	/perception/traffic_light_recognition/traffic_signals	autoware_auto_perception_msgs/msg/TrafficSignalArray	Contains the traffic signal information such as a color (green, yellow, read) and an arrow (right, left, straight).

TODO: The type of the Obstacles information should not depend on the specific sensor message type (now PointCloud). It needs to be fixed.

From API

Name	Topic	Type	Description
Max Velocity	/planning/scenario_planning/max_velocity_default	autoware_adapi_v1_msgs/srv/SetRoutePoints	Indicate the maximum value of the vehicle speed plan
Operation Mode	/system/operation_mode/state	autoware_adapi_v1_msgs/msg/OperationModeState	Indicates the current operation mode (automatic/manual, etc.).
Route Set	/planning/mission_planning/set_route	autoware_adapi_v1_msgs/srv/SetRoute	Indicates to set the route when the vehicle is stopped.
Route Points Set	/planning/mission_planning/set_route_points	autoware_adapi_v1_msgs/srv/SetRoutePoints	Indicates to set the route with points when the vehicle is stopped.
Route Change	/planning/mission_planning/change_route	autoware_adapi_v1_msgs/srv/SetRoute	Indicates to change the route when the vehicle is moving.
Route Points Change	/planning/mission_planning/change_route_points	autoware_adapi_v1_msgs/srv/SetRoutePoints	Indicates to change the route with points when the vehicle is moving.
Route Clear	/planning/mission_planning/clear_route	autoware_adapi_v1_msgs/srv/ClearRoute	Indicates to clear the route information.
MRM Route Set Points	/planning/mission_planning/mission_planner/srv/set_mrm_route	autoware_adapi_v1_msgs/srv/SetRoutePoints	Indicates to set the emergency route.
MRM Route Clear	/planning/mission_planning/mission_planner/srv/clear_mrm_route	autoware_adapi_v1_msgs/srv/SetRoutePoints	Indicates to clear the emergency route.

Output

To Control

Name	Topic	Type	Description
Trajectory	/planning/trajectory	autoware_auto_planning_msgs/msg/Trajectory	A sequence of space and velocity and acceleration points to be followed by the controller.
Turn Indicator	/planning/turn_indicators_cmd	autoware_auto_vehicle_msgs/msg/TurnIndicatorsCommand	Turn indicator signal to be followed by the vehicle.
Hazard Light	/planning/hazard_lights_cmd	autoware_auto_vehicle_msgs/msg/HazardLightsCommand	Hazard light signal to be followed by the vehicle.

To System

Name	Topic	Type	Description
Diagnostics	/planning/hazard_lights_cmd	diagnostic_msgs/msg/DiagnosticArray	Diagnostic status of the Planning component reported to the System component.

To API

Name	Topic	Type	Description
Path Candidate	/planning/path_candidate/*	autoware_auto_planning_msgs/msg/Path	The path Autoware is about to take. Users can interrupt the operation based on the path candidate information.
Steering Factor	/planning/steering_factor/*	autoware_adapi_v1_msgs/msg/SteeringFactorArray	Information about the steering maneuvers performed by Autoware (e.g., steering to the right for a right turn, etc.)
Velocity Factor	/planning/velocity_factors/*	autoware_adapi_v1_msgs/msg/VelocityFactorArray	Information about the velocity maneuvers performed by Autoware (e.g., stop for an obstacle, etc.)

Planning internal interface

This section explains the communication between the different planning modules shown in the Planning Architecture Design.

From Mission Planning to Scenario Planning

Name	Topic	Type	Description
Route	/planning/mission_planning/route	autoware_planning_msgs/msg/LaneletRoute	A sequence of lane IDs on a Lanelet map, from the starting point to the destination.

From Behavior Planning to Motion Planning

Name	Topic	Type	Description
Path	/planning/scenario_planning/lane_driving/behavior_planning/path	autoware_auto_planning_msgs/msg/Path	A sequence of approximate vehicle positions for driving, along with information on the maximum speed and the drivable areas. Modules receiving this message are expected to make changes to the path within the constraints of the drivable areas and the maximum speed, generating the desired final trajectory.

From Scenario Planning to Validation

Name	Topic	Type	Description
Trajectory	/planning/scenario_planning/trajectory	autoware_auto_planning_msgs/msg/Trajectory	A sequence of precise vehicle positions, speeds, and accelerations required for driving. It is expected that the vehicle will follow this trajectory.