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Planning Data Analyzer#

Overview#

This package provides offline evaluation tools for trajectory planning performance analysis from recorded rosbag data.

Open-Loop Evaluation#

Open-loop evaluation computes both trajectory error metrics and planning-quality subscores.

Trajectory Error Metrics#

For each evaluated trajectory, the following are computed:

  • ADE
  • FDE
  • AHE
  • FHE
  • lateral deviation
  • longitudinal deviation
  • TTC trace
  • per-horizon metrics (full, and configured horizons such as 1.0s, 2.0s, 4.0s, 8.0s)

Plnnaing Quality Score (EPDMS)#

To show multi-facet (comfort, progress, safety) quality of generated trajectory, EPDMS (Extended Predictive Driver Model Score) is computed based on the multiple subscores.

Two variant topics are exported:

  • synthetic_epdms_raw
  • synthetic_epdms_human_filtered

EPDMS's Subscores#

EPDMS is obtained from combining the following subscores:

  • history_comfort
  • extended_comfort
  • time_to_collision_within_bound
  • lane_keeping
  • ego_progress
  • drivable_area_compliance
  • no_at_fault_collision
  • driving_direction_compliance
  • traffic_light_compliance

These subscores are exported both as per-trajectory outputs and as aggregate statistics.

Quick Start#

Open Loop Evaluation#

sh ros2 run autoware_planning_data_analyzer autoware_planning_data_analyzer_node --ros-args \ -p bag_path:=~/my_bag \ -p evaluation.mode:=open_loop \ -p trajectory_topic:=/planning/trajectory \ -p json_output_path:=~/results.json

Output Files#

  • evaluation_result.json - Detailed metrics (ADE, FDE, TTC, etc.) and summary statistics
  • evaluation_output.bag/ - Evaluation metrics as rosbag for visualization
  • debug_images/*.png - Trajectory visualization (with --viz flag)

Parameters#

Key parameters in config/planning_data_analyzer.param.yaml:

  • evaluation.mode: Evaluation mode (open_loop)
  • evaluation_interval_ms: Sampling interval (default: 100ms)
  • sync_tolerance_ms: Time synchronization tolerance (default: 100ms)
  • trajectory_topic: Trajectory topic to evaluate
  • open_loop.*: Open-loop specific settings

For More Information#