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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