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Autoware Universe Documentation

Traffic Light Compliance Checker

Autoware Universe Documentation

Common
Common
- Introduction
- Testing Libraries
  Testing Libraries
- Common Libraries
  Common Libraries
  - autoware_auto_common
    autoware_auto_common
    
    comparisons
  - autoware_grid_map_utils
  - autoware_point_types
  - Boundary Departure Checker
  - Geography Utils
  - Global Parameter Loader
  - Glog Component
  - interpolation
  - Kalman Filter
  - Motion Utils
  - Vehicle Utils
  - Object Recognition Utils
  - OSQP Interface
  - QP Interface
  - Signal Processing
    Signal Processing
    
    Introduction
    
    Butterworth Filter
  - autoware_traffic_light_utils
  - autoware_universe_utils
- RVIZ2 Plugins
  RVIZ2 Plugins
- Node
  Node
  - Goal Distance Calculator
  - Path Distance Calculator
- Others
  Others
Control
Control
- Autoware autonomous emergency braking
  Autoware autonomous emergency braking
- Autoware collision detector
  Autoware collision detector
- Autoware control command gate
  Autoware control command gate
- Autoware control performance analysis
  Autoware control performance analysis
- Autoware control validator
  Autoware control validator
- Autoware external cmd selector
  Autoware external cmd selector
- Autoware joy controller
  Autoware joy controller
- Autoware lane departure checker
  Autoware lane departure checker
- Autoware mpc lateral controller
  Autoware mpc lateral controller
  - MPC Algorithm
- Autoware obstacle collision checker
  Autoware obstacle collision checker
- Autoware operation mode transition manager
  Autoware operation mode transition manager
- Autoware pid longitudinal controller
  Autoware pid longitudinal controller
- Autoware predicted path checker
  Autoware predicted path checker
- Autoware pure pursuit
  Autoware pure pursuit
- Autoware shift decider
  Autoware shift decider
- Autoware smart mpc trajectory follower
  Autoware smart mpc trajectory follower
- Autoware spheric collision detector
  Autoware spheric collision detector
- Autoware stop mode operator
  Autoware stop mode operator
- Autoware trajectory follower base
  Autoware trajectory follower base
- Autoware trajectory follower node
  Autoware trajectory follower node
  - Design
    Design
    
    Simple Trajectory Follower
- Autoware vehicle cmd gate
  Autoware vehicle cmd gate
E2e
E2e
- Autoware tensorrt vad
  Autoware tensorrt vad
  - Docs
    Docs
    
    Design
    
    VadInterface Design
    
    VadModel Design
    
    VadNode Design
Evaluator
Evaluator
- Autoware control evaluator
  Autoware control evaluator
- Autoware evaluation adapter
  Autoware evaluation adapter
- Autoware kinematic evaluator
  Autoware kinematic evaluator
- Autoware localization evaluator
  Autoware localization evaluator
- Autoware perception online evaluator
  Autoware perception online evaluator
- Autoware planning evaluator
  Autoware planning evaluator
- Autoware scenario simulator v2 adapter
  Autoware scenario simulator v2 adapter
Localization
Localization
- Autoware geo pose projector
  Autoware geo pose projector
- Autoware landmark based localizer
  Autoware landmark based localizer
  - Autoware ar tag based localizer
    
    Autoware ar tag based localizer
  - Autoware lidar marker localizer
    
    Autoware lidar marker localizer
- Autoware localization error monitor
  Autoware localization error monitor
- Autoware pose2twist
  Autoware pose2twist
- Autoware pose covariance modifier
  Autoware pose covariance modifier
- Autoware pose estimator arbiter
  Autoware pose estimator arbiter
  - Example rule
    
    Example rule
- Autoware pose instability detector
  Autoware pose instability detector
- Yabloc
  Yabloc
  - Yabloc common
    
    Yabloc common
  - Yabloc image processing
    
    Yabloc image processing
  - Yabloc monitor
    
    Yabloc monitor
  - Yabloc particle filter
    
    Yabloc particle filter
  - Yabloc pose initializer
    
    Yabloc pose initializer
Map
Map
- Autoware map tf generator
  Autoware map tf generator
- Util
  Util
  - Lanelet2 map preprocessor
    
    Lanelet2 map preprocessor
Perception
Perception
- Autoware bevfusion
  Autoware bevfusion
- Autoware bytetrack
  Autoware bytetrack
- Autoware camera streampetr
  Autoware camera streampetr
- Autoware cluster merger
  Autoware cluster merger
- Autoware compare map segmentation
  Autoware compare map segmentation
- Autoware crosswalk traffic light estimator
  Autoware crosswalk traffic light estimator
- Autoware detected object feature remover
  Autoware detected object feature remover
- Autoware detected object validation
  Autoware detected object validation
- Autoware detection by tracker
  Autoware detection by tracker
- Autoware elevation map loader
  Autoware elevation map loader
- Autoware euclidean cluster
  Autoware euclidean cluster
  - Docs
    Docs
    
    Label based euclidean cluster
- Autoware ground segmentation
  Autoware ground segmentation
  - Docs
    Docs
    
    RANSAC Ground Filter
    
    Ray Ground Filter
    
    Scan Ground Filter
- Autoware ground segmentation cuda
  Autoware ground segmentation cuda
- Autoware image object locator
  Autoware image object locator
  - Docs
    Docs
    
    bbox_object_locator
- Autoware image projection based fusion
  Autoware image projection based fusion
  - Docs
    Docs
    
    pointpainting_fusion
    
    roi_cluster_fusion
    
    roi_detected_object_fusion
    
    roi_pointcloud_fusion
    
    segmentation_pointcloud_fusion
- Autoware lidar apollo instance segmentation
  Autoware lidar apollo instance segmentation
- Autoware lidar centerpoint
  Autoware lidar centerpoint
- Autoware lidar frnet
  Autoware lidar frnet
- Autoware lidar transfusion
  Autoware lidar transfusion
- Autoware map based prediction
  Autoware map based prediction
- Autoware multi object tracker
  Autoware multi object tracker
  - Models used in this module
- Autoware object merger
  Autoware object merger
  - Docs
    Docs
    
    object_fusion_merger
- Autoware object sorter
  Autoware object sorter
- Autoware occupancy grid map outlier filter
  Autoware occupancy grid map outlier filter
- Autoware predicted path postprocessor
  Autoware predicted path postprocessor
  - Docs
    Docs
    
    RefineBySpeed
    
    RefinePenetrationByStaticObjects
- Autoware probabilistic occupancy grid map
  Autoware probabilistic occupancy grid map
- Autoware ptv3
  Autoware ptv3
- Autoware radar fusion to detected object
  Autoware radar fusion to detected object
  - Docs
    Docs
    
    Algorithm
- Autoware radar object tracker
  Autoware radar object tracker
  - models
- Autoware radar tracks msgs converter
  Autoware radar tracks msgs converter
- Autoware raindrop cluster filter
  Autoware raindrop cluster filter
  - low_intensity_cluster_filter
- Autoware shape estimation
  Autoware shape estimation
- Autoware simpl prediction
  Autoware simpl prediction
- Autoware simple object merger
  Autoware simple object merger
- Autoware tensorrt bevdet
  Autoware tensorrt bevdet
- Autoware tensorrt bevformer
  Autoware tensorrt bevformer
  - TensorRT
    
    TensorRT
- Autoware tensorrt classifier
  Autoware tensorrt classifier
- Autoware tensorrt common
  Autoware tensorrt common
- Autoware tensorrt plugins
  Autoware tensorrt plugins
- Autoware tensorrt yolox
  Autoware tensorrt yolox
- Autoware tracking object merger
  Autoware tracking object merger
- Autoware traffic light arbiter
  Autoware traffic light arbiter
- Autoware traffic light category merger
  Autoware traffic light category merger
- Autoware traffic light classifier
  Autoware traffic light classifier
- Autoware traffic light fine detector
  Autoware traffic light fine detector
- Autoware traffic light map based detector
  Autoware traffic light map based detector
- Autoware traffic light multi camera fusion
  Autoware traffic light multi camera fusion
- Autoware traffic light occlusion predictor
  Autoware traffic light occlusion predictor
- Autoware traffic light selector
  Autoware traffic light selector
- Autoware traffic light visualization
  Autoware traffic light visualization
- Perception utils
  Perception utils
Planning
Planning
- Introduction
- Rule-based planners
  Rule-based planners
  - Behavior Path Planner
    Behavior Path Planner
    
    About Behavior Path
    
    Concept
    Concept
    
    Collision Assessment/Safety Check
    
    Dynamic Drivable Area
    
    Path Generation
    
    Planner Manager
    
    Scene Module Interface
    
    Turn Signal
    
    Scene Module
    Scene Module
    
    Avoidance by Lane Change
    
    Dynamic Obstacle Avoidance
    
    Goal Planner
    
    Lane Change
    
    Side Shift
    
    Start Planner
    
    Static Obstacle Avoidance
  - Behavior Velocity Planner
    Behavior Velocity Planner
    
    About Behavior Velocity
    
    Template for Custom Module
    
    Available Module
    Available Module
    
    Blind Spot
    
    Crosswalk
    
    Detection Area
    
    Intersection
    
    No Drivable Lane
    
    No Stopping Area
    
    Occlusion Spot
    
    Speed Bump
    
    Stop Line
    
    Traffic Light
    
    Virtual Traffic Light
    
    Walkway
  - Parking
    Parking
    
    Freespace Planner
    Freespace Planner
    
    About Freespace Planner
    
    Algorithm
    
    RRT*
  - Mission Planner
  - Motion Planning
    Motion Planning
    
    Path Optimizer
    Path Optimizer
    
    About Path Optimizer
    
    How to Debug
    
    Model Predictive Trajectory (MPT)
    
    Path Smoother
    Path Smoother
    
    About Path Smoother
    
    Elastic Band
    
    Sampling Based Planner
    Sampling Based Planner
    
    Bezier Sampler
    
    Common library
    
    Frenet Planner
    
    Path Sample
    
    Surround Obstacle Checker
    Surround Obstacle Checker
    
    About Surround Obstacle Checker
    
    About Surround Obstacle Checker (Japanese)
    
    Motion Velocity Planner
    Motion Velocity Planner
    
    About Motion Velocity Planner (Autoware Core)
    
    Available Modules
    Available Modules
    
    Boundary Departure Prevention
    
    Dynamic Obstacle Stop
    
    Obstacle Cruise
    
    Obstacle Slow Down
    
    Obstacle Stop (Autoware Core)
    
    Obstacle Velocity Limiter
    
    Out of Lane
    
    Road User Stop
    
    Run Out
- Learning-based planners
  Learning-based planners
  - Diffusion Planner
  - Trajectory
    Trajectory
    
    Kinematic Feasibility Enforcer
    
    QP-based Trajectory Smoother
    
    Traffic Rule Filter
    
    Trajectory Adapter
    
    Trajectory Modifier
    
    Trajectory Optimizer
    
    Trajectory Ranker
    
    Trajectory Safety Filter
    
    Continuous Jerk Filter
- Scenario Selector
- API and Library
  API and Library
- Additional Tools
  Additional Tools
  - Planning Debug Tools (Autoware Tools)
    Planning Debug Tools (Autoware Tools)
    
    About Planning Debug Tools
    
    Processing Time Visualizer
    
    Static Centerline Generator
    
    Stop Reason Visualizer
    
    Trajectory Visualizer
  - Planning Topic Converter
  - Planning Test Manager
  - Planning Validator
    Planning Validator
    
    About Planning Validator
    
    Intersection Collision Checker
    
    Rear Collision Checker
    
    Trajectory Checker
  - Remaining Distance Time Calculator
Sensing
Sensing
- Autoware calibration status classifier
  Autoware calibration status classifier
- Autoware cuda pointcloud preprocessor
  Autoware cuda pointcloud preprocessor
  - Docs
    Docs
    
    cuda_concatenate_and_time_synchronize_node
    
    cuda_pointcloud_preprocessor
    
    cuda_polar_voxel_noise_filter
    
    cuda_polar_voxel_outlier_filter
    
    cuda_voxel_grid_downsample_filter
- Autoware cuda utils
  Autoware cuda utils
- Autoware image diagnostics
  Autoware image diagnostics
- Autoware image transport decompressor
  Autoware image transport decompressor
- Autoware imu corrector
  Autoware imu corrector
- Autoware pcl extensions
  Autoware pcl extensions
- Autoware pointcloud preprocessor
  Autoware pointcloud preprocessor
  - Docs
    Docs
    
    blockage_diag
    
    concatenate_and_time_synchronize_node
    
    crop_box_filter
    
    distortion_corrector
    
    downsample_filter
    
    dual_return_outlier_filter
    
    outlier_filter
    
    passthrough_filter
    
    pointcloud_accumulator
    
    PointCloud Densifier
    
    Polar Voxel Noise Filter
    
    Polar Voxel Outlier Filter
    
    radius_search_2d_outlier_filter
    
    ring_outlier_filter
    
    vector_map_filter
    
    vector_map_inside_area_filter
    
    voxel_grid_outlier_filter
- Autoware radar objects adapter
  Autoware radar objects adapter
- Autoware radar scan to pointcloud2
  Autoware radar scan to pointcloud2
- Autoware radar static pointcloud filter
  Autoware radar static pointcloud filter
- Autoware radar threshold filter
  Autoware radar threshold filter
- Autoware radar tracks noise filter
  Autoware radar tracks noise filter
- Livox
  Livox
  - Autoware livox tag filter
    
    Autoware livox tag filter
Simulator
Simulator
- Autoware carla interface
  Autoware carla interface
- Autoware dummy traffic light publisher
  Autoware dummy traffic light publisher
- Autoware fault injection
  Autoware fault injection
- Autoware vehicle door simulator
  Autoware vehicle door simulator
- Tier4 dummy object rviz plugin
  Tier4 dummy object rviz plugin
System
System
- Autoware bluetooth monitor
  Autoware bluetooth monitor
- Autoware command mode decider
  Autoware command mode decider
- Autoware command mode switcher
  Autoware command mode switcher
- Autoware command mode types
  Autoware command mode types
- Autoware component monitor
  Autoware component monitor
- Autoware component state monitor
  Autoware component state monitor
- Autoware default adapi helpers
  Autoware default adapi helpers
  - Autoware automatic pose initializer
    
    Autoware automatic pose initializer
- Autoware default adapi universe
  Autoware default adapi universe
  - Document
    Document
    
    Autoware state compatibility
    
    Diagnostics
    
    Fail-safe API
    
    Interface API
    
    Localization API
    
    Motion API
    
    Operation mode API
    
    Parameters
    
    Routing API
- Autoware diagnostic graph aggregator
  Autoware diagnostic graph aggregator
  - Doc
    Doc
    
    Format
    Format
    
    Graph
    
    Path
    
    Unit
    
    Unit
    Unit
    
    And
    
    Constant
    
    Diag
    
    Link
    
    Or
    
    Constant
    
    Tool
    Tool
    
    Tree tool
- Autoware diagnostic graph utils
  Autoware diagnostic graph utils
  - Doc
    Doc
    
    Node
    Node
    
    Converter tool
    
    Dump tool
- Autoware dummy diag publisher
  Autoware dummy diag publisher
- Autoware dummy infrastructure
  Autoware dummy infrastructure
- Autoware duplicated node checker
  Autoware duplicated node checker
- Autoware mrm comfortable stop operator
  Autoware mrm comfortable stop operator
- Autoware mrm emergency stop operator
  Autoware mrm emergency stop operator
- Autoware mrm handler
  Autoware mrm handler
- Autoware pipeline latency monitor
  Autoware pipeline latency monitor
- Autoware processing time checker
  Autoware processing time checker
- Autoware system monitor
  Autoware system monitor
  - Docs
    Docs
    
    Class diagrams
    
    hdd_reader
    
    msr_reader
    
    ROS parameters
    
    Sequence diagrams
    
    ROS topics: CPU Monitor
    
    ROS topics: GPU Monitor
    
    ROS topics: HDD Monitor
    
    ROS topics: Memory Monitor
    
    ROS topics: Net Monitor
    
    ROS topics: NTP Monitor
    
    ROS topics: Process Monitor
    
    ROS topics: Voltage Monitor
    
    traffic_reader
- Autoware topic relay controller
  Autoware topic relay controller
- Autoware topic state monitor
  Autoware topic state monitor
- Autoware velodyne monitor
  Autoware velodyne monitor
Vehicle
Vehicle
- Autoware accel brake map calibrator
  Autoware accel brake map calibrator
- Autoware external cmd converter
  Autoware external cmd converter
- Autoware raw vehicle cmd converter
  Autoware raw vehicle cmd converter
- Autoware steer offset estimator
  Autoware steer offset estimator
Visualization
Visualization
- Autoware bag time manager rviz plugin
  Autoware bag time manager rviz plugin
- Autoware traffic light rviz plugin
  Autoware traffic light rviz plugin
- Tier4 adapi rviz plugin
  Tier4 adapi rviz plugin
- Tier4 camera view rviz plugin
  Tier4 camera view rviz plugin
- Tier4 control mode rviz plugin
  Tier4 control mode rviz plugin
- Tier4 datetime rviz plugin
  Tier4 datetime rviz plugin
- Tier4 perception rviz plugin
  Tier4 perception rviz plugin
- Tier4 planning factor rviz plugin
  Tier4 planning factor rviz plugin
- Tier4 state rviz plugin
  Tier4 state rviz plugin
- Tier4 traffic light rviz plugin
  Tier4 traffic light rviz plugin
- Tier4 vehicle rviz plugin
  Tier4 vehicle rviz plugin

Traffic Light Compliance Checker#

Library for checking whether a planned trajectory complies with traffic light signals along the route.