Behavior Velocity Planner#

Overview#

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

Architecture

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.

set_stop_velocity

Input topics#

Name	Type	Description
`~input/path_with_lane_id`	autoware_auto_planning_msgs::msg::PathWithLaneId	path with lane_id
`~input/vector_map`	autoware_auto_mapping_msgs::msg::HADMapBin	vector map
`~input/vehicle_odometry`	nav_msgs::msg::Odometry	vehicle velocity
`~input/dynamic_objects`	autoware_auto_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_auto_perception_msgs::msg::TrafficSignalArray	traffic light states

Output topics#

Name	Type	Description
`~output/path`	autoware_auto_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_blind_spot`	bool	whether to launch blind_spot module
`launch_crosswalk`	bool	whether to launch crosswalk module
`launch_detection_area`	bool	whether to launch detection_area module
`launch_intersection`	bool	whether to launch intersection module
`launch_traffic_light`	bool	whether to launch traffic light module
`launch_stop_line`	bool	whether to launch stop_line module
`launch_occlusion_spot`	bool	whether to launch occlusion_spot module
`launch_run_out`	bool	whether to launch run_out module
`launch_speed_bump`	bool	whether to launch speed_bump module
`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