Behavior Velocity Planner

Overview

behavior_velocity_planner is a planner that adjust velocity based on the traffic rules. It loads modules as plugins. Please refer to the links listed below for detail on each module.

• Blind Spot
• Crosswalk
• Walkway
• Detection Area
• Intersection
• MergeFromPrivate
• Stop Line
• Virtual Traffic Light
• Traffic Light
• Occlusion Spot
• No Stopping Area
• Run Out
• Speed Bump

When each module plans velocity, it considers based on base_link(center of rear-wheel axis) pose. So for example, in order to stop at a stop line with the vehicles' front on the stop line, it calculates base_link position from the distance between base_link to front and modifies path velocity from the base_link position.

Input topics

Name	Type	Description
~input/path_with_lane_id	tier4_planning_msgs::msg::PathWithLaneId	path with lane_id
~input/vector_map	autoware_map_msgs::msg::LaneletMapBin	vector map
~input/vehicle_odometry	nav_msgs::msg::Odometry	vehicle velocity
~input/dynamic_objects	autoware_perception_msgs::msg::PredictedObjects	dynamic objects
~input/no_ground_pointcloud	sensor_msgs::msg::PointCloud2	obstacle pointcloud
~/input/compare_map_filtered_pointcloud	sensor_msgs::msg::PointCloud2	obstacle pointcloud filtered by compare map. Note that this is used only when the detection method of run out module is Points.
~input/traffic_signals	autoware_perception_msgs::msg::TrafficLightGroupArray	traffic light states

Output topics

Name	Type	Description
~output/path	autoware_planning_msgs::msg::Path	path to be followed
~output/stop_reasons	tier4_planning_msgs::msg::StopReasonArray	reasons that cause the vehicle to stop

Node parameters

Parameter	Type	Description
launch_modules	vector<string>	module names to launch
forward_path_length	double	forward path length
backward_path_length	double	backward path length
max_accel	double	(to be a global parameter) max acceleration of the vehicle
system_delay	double	(to be a global parameter) delay time until output control command
delay_response_time	double	(to be a global parameter) delay time of the vehicle's response to control commands

Traffic Light Handling in sim/real

The handling of traffic light information varies depending on the usage. In the below table, the traffic signal topic element for the corresponding lane is denoted as info, and if info is not available, it is denoted as null.

module \ case	info is null	info is not null
intersection_occlusion(is_simulation = *) info is the latest non-null information	GO(occlusion is ignored)	intersection_occlusion uses the latest non UNKNOWN observation in the queue up to present. If info is GREEN or UNKNOWN, occlusion is cared If info is RED or YELLOW, occlusion is ignored(GO) NOTE: Currently timeout is not considered
traffic_light(sim, is_simulation = true) info is current information	GO	traffic_light uses the perceived traffic light information at present directly. If info is timeout, STOP whatever the color is If info is not timeout, then act according to the color. If info is UNKNOWN, STOP
traffic_light(real, is_simulation = false) info is current information	STOP		⁠
crosswalk with Traffic Light(is_simulation = *) info is current information	default	If disable_yield_for_new_stopped_object is true, each sub scene_module ignore newly detected pedestrians after module instantiation. If ignore_with_traffic_light is true, occlusion detection is skipped.
map_based_prediction(is_simulation = *) info is current information	default	If a pedestrian traffic light is RED, surrounding pedestrians are not predicted. GREEN, stopped pedestrians are not predicted.