autoware_traffic_light_arbiter

Purpose

This package receives traffic signals from perception and external (e.g., V2X) components and combines them using either a confidence-based or a external-preference based approach.

TrafficLightArbiter

A node that merges traffic light/signal state from image recognition and external (e.g., V2X) systems to provide to a planning component.

Signal Match Validator

When enable_signal_matching is set to true, this node validates the match between perception signals and external signals. The table below outlines how the matching process determines the output based on the combination of perception and external signal colors. Each cell represents the outcome when a specific color from a perception signal (columns) intersects with a color from an external signal (rows).

External \ Perception	RED	AMBER	GREEN	UNKNOWN	Not Received
RED	RED	UNKNOWN	UNKNOWN	UNKNOWN	UNKNOWN
AMBER	UNKNOWN	AMBER	UNKNOWN	UNKNOWN	UNKNOWN
GREEN	UNKNOWN	UNKNOWN	GREEN	UNKNOWN	UNKNOWN
UNKNOWN	UNKNOWN	UNKNOWN	UNKNOWN	UNKNOWN	UNKNOWN
Not Received	UNKNOWN	UNKNOWN	UNKNOWN	UNKNOWN	UNKNOWN

Inputs / Outputs

Input

Name	Type	Description
~/sub/vector_map	autoware_map_msgs::msg::LaneletMapBin	The vector map to get valid traffic signal ids.
~/sub/perception_traffic_signals	autoware_perception_msgs::msg::TrafficLightGroupArray	The traffic signals from the image recognition pipeline.
~/sub/external_traffic_signals	autoware_perception_msgs::msg::TrafficLightGroupArray	The traffic signals from an external system.

Output

Name	Type	Description
~/pub/traffic_signals	autoware_perception_msgs::msg::TrafficLightGroupArray	The merged traffic signal state.

Parameters

Core Parameters

Name	Type	Default Value	Description
external_time_tolerance	double	5.0	The duration in seconds an external message is considered valid for merging
perception_time_tolerance	double	1.0	The duration in seconds a perception message is considered valid for merging
external_priority	bool	false	Whether or not externals signals take precedence over perception-based ones. If false, the merging uses confidence as a criteria
enable_signal_matching	bool	false	Decide whether to validate the match between perception signals and external signals. If set to true, verify that the colors match and only publish them if they are identical