Autoware Trajectory Traffic Rule Filter

Purpose

The autoware_trajectory_traffic_rule_filter package provides a plugin-based filtering system for candidate trajectories based on traffic rules. It evaluates trajectories against various traffic regulations and safety constraints to ensure compliance with traffic laws.

Inner-workings / Algorithms

Architecture

The package uses a plugin architecture that allows for flexible and extensible traffic rule checking:

1. Main Node: TrajectoryTrafficRuleFilter - Manages plugins and coordinates filtering
2. Plugin Interface: TrafficRuleFilterInterface - Base class for all filter plugins
3. Filter Plugins: Individual filters that implement specific traffic rule checks

Filter Plugins

TrafficLightFilter

• Validates trajectory compliance with traffic signals
• Monitors traffic light states from perception system
• Checks if trajectory would pass through red lights
• Uses isTrafficSignalStop() from autoware traffic light utils
• Allows trajectories only when traffic lights permit passage

Interface

Topics

Direction	Topic Name	Type	Description
Input	~/input/candidate_trajectories	autoware_internal_planning_msgs::msg::CandidateTrajectories	Candidate trajectories to be filtered
Input	~/input/lanelet2_map	autoware_map_msgs::msg::LaneletMapBin	Lanelet2 map containing traffic rule info
Input	~/input/traffic_signals	autoware_perception_msgs::msg::TrafficLightGroupArray	Current traffic light states
Output	~/output/candidate_trajectories	autoware_internal_planning_msgs::msg::CandidateTrajectories	Filtered trajectories that comply with traffic rules

Parameters

Name	Type	Description	Default Value
filter_names	string array	List of filter plugins to load	See config file

Plugin Configuration

The active filters are specified in config/trajectory_traffic_rule_filter.param.yaml:

/**:
  ros__parameters:
    filter_names:
      - "autoware::trajectory_traffic_rule_filter::plugin::TrafficLightFilter"