autoware_minimum_rule_based_planner#

Overview#

A minimum rule-based trajectory planner that generates safe and feasible trajectories for autonomous driving. It follows the planned route by constructing trajectories from lanelet centerline and applies multi-stage optimization for geometric smoothness, velocity profiles, and obstacle avoidance.

Features#

Centerline-based path planning: Generates paths along lanelet centerline from the HD map, extending backward and forward from the ego vehicle's position
Smooth goal connection: Refines the path near the goal pose for smooth stopping
Path shifting: Shifts the centerline path to start from the ego vehicle's current pose, using curvature-aware shift distance calculation based on ego velocity and lateral acceleration limits
Trajectory smoothing: Applies an Elastic Band smoother for geometric smoothing via a plugin interface
Trajectory modification: Applies modifier plugins (e.g., obstacle stop) for safety modifications
Velocity optimization: Computes a jerk-filtered velocity profile respecting constraints on acceleration, jerk, and lateral acceleration
Test mode: Supports bypassing path planning by directly receiving a PathWithLaneId topic

Inputs / Outputs#

Inputs#

Topic	Type	Description
`~/input/route`	`LaneletRoute`	Planned route
`~/input/vector_map`	`LaneletMapBin`	HD map
`~/input/odometry`	`Odometry`	Ego pose and velocity
`~/input/acceleration`	`AccelWithCovarianceStamped`	Ego acceleration
`~/input/objects`	`PredictedObjects`	Surrounding obstacles
`~/input/test/path_with_lane_id`	`PathWithLaneId`	Test mode: bypasses path planning

Outputs#

Topic	Type	Description
`~/output/candidate_trajectories`	`CandidateTrajectories`	Planned trajectory
`~/debug/path_with_lane_id`	`PathWithLaneId`	Debug: planned path
`~/debug/trajectory`	`Trajectory`	Debug: final output trajectory
`~/debug/shifted_trajectory`	`Trajectory`	Debug: trajectory after path shifting
`~/debug/optimizer/{name}/trajectory`	`Trajectory`	Debug: trajectory after each optimizer plugin
`~/debug/modifier/{name}/trajectory`	`Trajectory`	Debug: trajectory after each modifier plugin
`~/debug/processing_time_detail_ms`	`ProcessingTimeDetail`	Debug: processing time breakdown

Parameters#

Name	Type	Description	Default	Range
planning_frequency_hz	float	Planning loop frequency [Hz]	10.0	≥0.0
plugin_names	array	List of plugins to load	['autoware::minimum_rule_based_planner::plugin::ObstacleStop', 'autoware::minimum_rule_based_planner::plugin::SurroundObstacleStop']	N/A
path_length.backward	float	Path length behind ego [m]	5.0	≥0.0
path_length.forward	float	Path length ahead of ego [m]	300.0	≥0.0
smooth_goal_connection.search_radius_range	float	Search radius for goal connection [m]	7.5	≥0.0
smooth_goal_connection.pre_goal_offset	float	Offset before goal for smooth connection [m]	1.0	≥0.0
ego_nearest_lanelet.dist_threshold	float	Distance threshold for ego nearest lanelet [m]	3.0	≥0.0
ego_nearest_lanelet.yaw_threshold	float	Yaw threshold for ego nearest lanelet [rad]	0.174533	≥0.0
path_shift.enable	boolean	Enable path shifting to ego pose	True	N/A
path_shift.minimum_shift_length	float	Lateral offset threshold to trigger shift [m]	0.5	≥0.0
path_shift.minimum_shift_yaw	float	Yaw deviation threshold to trigger shift [rad]	0.349	≥0.0
path_shift.minimum_shift_distance	float	Floor for shift distance [m]	5.0	≥0.0
path_shift.min_speed_for_curvature	float	Lower bound on speed for curvature computation [m/s]	2.77	≥0.0
path_shift.lateral_accel_limit	float	Lateral acceleration limit for shift [m/s^2]	1.0	≥0.0
waypoint_group.separation_threshold	float	Max distance between waypoints in same group [m]	1.0	≥0.0
waypoint_group.interval_margin_ratio	float	IRatio to expand group interval by lateral distance	10.0	≥0.0
output.delta_arc_length	float	Resampling interval for path-to-trajectory conversion [m]	0.5	≥0.0
obstacle_stop.enable	boolean	Enable obstacle stop [m]	True	N/A
obstacle_stop.use_objects	boolean	Enable object detection [m]	True	N/A
obstacle_stop.use_pointcloud	boolean	Enable pointcloud detection [m]	True	N/A
obstacle_stop.enable_stop_for_objects	boolean	Enable stop for objects	True	N/A
obstacle_stop.enable_stop_for_pointcloud	boolean	Enable stop for pointcloud	False	N/A
obstacle_stop.stop_margin	float	Stop margin [m]	6.0	≥0.0
obstacle_stop.nominal_stopping_decel	float	Nominal stopping deceleration [m/s^2]	1.0	≥0.0
obstacle_stop.maximum_stopping_decel	float	Maximum stopping deceleration [m/s^2]	4.0	≥0.0
obstacle_stop.stopping_jerk	float	Stopping jerk [m/s^3]	3.0	≥0.0
obstacle_stop.on_time_buffer	float	On time buffer [s]	0.5	≥0.0
obstacle_stop.off_time_buffer	float	Off time buffer [s]	1.0	≥0.0
obstacle_stop.lateral_margin	float	Lateral margin [m]	0.5	≥0.0
obstacle_stop.arrived_distance_threshold	float	Threshold to check if the ego vehicle has arrived at the stop point [m]	0.5	≥0.0
objects.object_types	array	Object types	['car', 'truck', 'bus', 'trailer', 'motorcycle', 'bicycle', 'pedestrian', 'hazard']	N/A
objects.max_velocity_th	float	Max velocity threshold [m/s]	1.0	≥0.0
objects.stopped_velocity_th	float	Velocity threshold for target object to be considered as stopped [m/s]	0.25	≥0.0
objects.max_lateral_velocity_th	float	Maximum lateral velocity threshold for target object [m/s]	1.0	≥0.0 ≤10.0
objects.safety_buffer	float	Safety buffer to expand object shape [m]	0.0	≥0.0 ≤10.0
pointcloud.height_buffer	float	Height buffer [m]	0.5	≥0.0
pointcloud.min_height	float	Min height [m]	0.2	≥0.0
pointcloud.detection_range	float	Detection range [m]	100.0	≥0.0
voxel_grid_filter.x	float	X [m]	0.2	≥0.0
voxel_grid_filter.y	float	Y [m]	0.2	≥0.0
voxel_grid_filter.z	float	Z [m]	0.2	≥0.0
voxel_grid_filter.min_size	float	Min size	3	≥0.0
clustering.tolerance	float	Tolerance [m]	0.5	≥0.0
clustering.min_height	float	Min height [m]	0.5	≥0.0
clustering.min_size	float	Min size	10	≥0.0
clustering.max_size	float	Max size	10000	≥0.0
rss_params.enable	boolean	Enable RSS-based stop logic	True	N/A
object_decel.car	float	Deceleration for car type objects [m/s^2]	1.5	≥0.0
object_decel.truck	float	Deceleration for truck type objects [m/s^2]	1.5	≥0.0
object_decel.bus	float	Deceleration for bus type objects [m/s^2]	1.5	≥0.0
object_decel.trailer	float	Deceleration for trailer type objects [m/s^2]	1.5	≥0.0
object_decel.motorcycle	float	Deceleration for motorcycle type objects [m/s^2]	3.0	≥0.0
object_decel.bicycle	float	Deceleration for bicycle type objects [m/s^2]	5.0	≥0.0
object_decel.pedestrian	float	Deceleration for pedestrian type objects [m/s^2]	5.0	≥0.0
rss_params.ego_decel	float	Deceleration for ego vehicle used in RSS calculation [m/s^2]	4.0	≥0.0
rss_params.reaction_time	float	Reaction time used in RSS calculation [s]	0.2	≥0.0
rss_params.safety_margin	float	Safety margin used in RSS calculation [m]	2.0	≥0.0
rss_params.lookahead_horizon	float	Lookahead horizon used in RSS calculation [s]	1.5	≥0.0
surround_obstacle_stop.enable	boolean	Enable surround obstacle stop	True	N/A
surround_obstacle_stop.use_objects	boolean	Enable the use of objects for surround obstacle stop	True	N/A
surround_obstacle_stop.use_pointcloud	boolean	Enable the use of pointcloud for surround obstacle stop	False	N/A
surround_obstacle_stop.object_types	array	Types of objects to consider for surround obstacle stop	['car', 'truck', 'bus', 'trailer', 'motorcycle', 'bicycle', 'pedestrian', 'hazard', 'animal', 'unknown']	N/A
front_distance_th.car	float	Front surround check distance for car [m]	0.5	≥0.0 ≤10.0
front_distance_th.truck	float	Front surround check distance for truck [m]	0.5	≥0.0 ≤10.0
front_distance_th.bus	float	Front surround check distance for bus [m]	0.5	≥0.0 ≤10.0
front_distance_th.trailer	float	Front surround check distance for trailer [m]	0.5	≥0.0 ≤10.0
front_distance_th.motorcycle	float	Front surround check distance for motorcycle [m]	0.5	≥0.0 ≤10.0
front_distance_th.bicycle	float	Front surround check distance for bicycle [m]	0.5	≥0.0 ≤10.0
front_distance_th.pedestrian	float	Front surround check distance for pedestrian [m]	0.5	≥0.0 ≤10.0
front_distance_th.hazard	float	Front surround check distance for hazard [m]	0.5	≥0.0 ≤10.0
front_distance_th.animal	float	Front surround check distance for animal [m]	0.5	≥0.0 ≤10.0
front_distance_th.unknown	float	Front surround check distance for unknown [m]	0.5	≥0.0 ≤10.0
front_distance_th.pointcloud	float	Front surround check distance for pointcloud [m]	0.5	≥0.0 ≤10.0
side_distance_th.car	float	Side surround check distance for car [m]	0.0	≥0.0 ≤10.0
side_distance_th.truck	float	Side surround check distance for truck [m]	0.0	≥0.0 ≤10.0
side_distance_th.bus	float	Side surround check distance for bus [m]	0.0	≥0.0 ≤10.0
side_distance_th.trailer	float	Side surround check distance for trailer [m]	0.0	≥0.0 ≤10.0
side_distance_th.motorcycle	float	Side surround check distance for motorcycle [m]	1.0	≥0.0 ≤10.0
side_distance_th.bicycle	float	Side surround check distance for bicycle [m]	1.0	≥0.0 ≤10.0
side_distance_th.pedestrian	float	Side surround check distance for pedestrian [m]	1.0	≥0.0 ≤10.0
side_distance_th.hazard	float	Side surround check distance for hazard [m]	0.5	≥0.0 ≤10.0
side_distance_th.animal	float	Side surround check distance for animal [m]	0.5	≥0.0 ≤10.0
side_distance_th.unknown	float	Side surround check distance for unknown [m]	0.5	≥0.0 ≤10.0
side_distance_th.pointcloud	float	Side surround check distance for pointcloud [m]	0.5	≥0.0 ≤10.0
back_distance_th.car	float	Back surround check distance for car [m]	0.0	≥0.0 ≤10.0
back_distance_th.truck	float	Back surround check distance for truck [m]	0.0	≥0.0 ≤10.0
back_distance_th.bus	float	Back surround check distance for bus [m]	0.0	≥0.0 ≤10.0
back_distance_th.trailer	float	Back surround check distance for trailer [m]	0.0	≥0.0 ≤10.0
back_distance_th.motorcycle	float	Back surround check distance for motorcycle [m]	0.5	≥0.0 ≤10.0
back_distance_th.bicycle	float	Back surround check distance for bicycle [m]	0.5	≥0.0 ≤10.0
back_distance_th.pedestrian	float	Back surround check distance for pedestrian [m]	0.5	≥0.0 ≤10.0
back_distance_th.hazard	float	Back surround check distance for hazard [m]	0.5	≥0.0 ≤10.0
back_distance_th.animal	float	Back surround check distance for animal [m]	0.5	≥0.0 ≤10.0
back_distance_th.unknown	float	Back surround check distance for unknown [m]	0.5	≥0.0 ≤10.0
back_distance_th.pointcloud	float	Back surround check distance for pointcloud [m]	0.5	≥0.0 ≤10.0
surround_obstacle_stop.hysteresis_distance	float	Distance hysteresis threshold for clearing surround stop [m]	0.1	≥0.0 ≤10.0
surround_obstacle_stop.hysteresis_time	float	Time hysteresis threshold for clearing surround stop [s]	0.2	≥0.0 ≤10.0
surround_obstacle_stop.ego_stopped_vel_th	float	Velocity threshold below which ego vehicle is considered stopped [m/s]	0.1	≥0.0 ≤10.0
velocity_smoother.nearest_dist_threshold_m	float	Nearest distance threshold [m]	1.5	≥0.0
velocity_smoother.nearest_yaw_threshold_deg	float	Nearest yaw threshold [deg]	60.0	≥0.0
velocity_smoother.target_pull_out_speed_mps	float	Target pull out speed [m/s]	0.25	≥0.0
velocity_smoother.target_pull_out_acc_mps2	float	Target pull out acceleration [m/s^2]	0.5	≥0.0
velocity_smoother.max_speed_mps	float	Max speed [m/s]	13.88	≥0.0
velocity_smoother.max_lateral_accel_mps2	float	Max lateral acceleration [m/s^2]	1.5	≥0.0
velocity_smoother.set_engage_speed	boolean	Set engage speed at start	True	N/A
velocity_smoother.limit_speed	boolean	Apply max speed limit	True	N/A
velocity_smoother.limit_lateral_acceleration	boolean	Apply max lateral acceleration limit	False	N/A
velocity_smoother.smooth_velocities	boolean	Apply jerk-filtered velocity smoothing	True	N/A
velocity_smoother.stop_dist_to_prohibit_engage	float	Stop distance to prohibit engage [m]	0.5	≥0.0
post_resample.max_trajectory_length	float	Max trajectory length for post-optimization resampling [m]	300.0	≥0.0
post_resample.min_trajectory_length	float	Minimum trajectory length for post-optimization resampling [m]	30.0	≥0.0
post_resample.resample_time	float	Resample total time [s]	10.0	≥0.0
post_resample.dense_resample_dt	float	Dense sampling time interval [s]	0.1	≥0.0
post_resample.dense_min_interval_distance	float	Dense sampling min interval [m]	0.1	≥0.0
post_resample.sparse_resample_dt	float	Sparse sampling time interval [s]	0.1	≥0.0
post_resample.sparse_min_interval_distance	float	Sparse sampling min interval [m]	1.0	≥0.0
debug.enable_path	boolean	Enable path debugging	True	N/A
debug.enable_shifted_trajectory	boolean	Enable shifted trajectory debugging	True	N/A
debug.enable_optimizer_trajectory	boolean	Enable optimizer trajectory debugging	True	N/A
debug.enable_modifier_trajectory	boolean	Enable modifier trajectory debugging	True	N/A
debug.enable_output_trajectory	boolean	Enable output trajectory debugging	True	N/A

Parameters can be set via YAML configuration files in the config/ directory.

Jerk-filtered smoother parameters are defined in config/velocity_smoother/jerk_filtered_smoother.param.yaml. EB smoother parameters are defined in config/trajectory_optimizer_plugins/elastic_band_smoother.param.yaml.