Planning Validator

The autoware_planning_validator node is the last module executed in the planning component, it responsible for checking the validity of the planning trajectory before it is published to control component. The status of the validation can be viewed in the /diagnostics and /validation_status topics. When an invalidity is detected, the autoware_planning_validator will process the trajectory following the selected option: "0. publish the trajectory as it is", "1. stop publishing the trajectory", "2. publish the last validated trajectory".

The autoware_planning_validator node loads multiple plugins modules, each responsible for running specific validation checks on the planning trajectory:

• Latency Checker: The autoware_planning_validator_latency_checker is responsible for checking the validity of planning trajectory age
• Trajectory Checker: The autoware_planning_validator_trajectory_checker is responsible for checking the validity of planning trajectory shape
• Intersection Collision Checker: The autoware_planning_validator_intersection_collision_checker is responsible for verifying planning trajectory does not result in collision at intersections
• Rear Collision Checker: The autoware_planning_validator_rear_collision_checker is responsible for verifying planning trajectory does not result in collision with rear vehicles

Inputs/Outputs

Inputs

The autoware_planning_validator takes in the following inputs:

Name	Type	Description
~/input/kinematics	nav_msgs/Odometry	ego pose and twist
~/input/acceleration	geometry_msgs/AccelWithCovarianceStamped	current acceleration of the ego vehicle
~/input/trajectory	autoware_planning_msgs/Trajectory	target trajectory to be validated in this node
~/input/route	autoware_planning_msgs/LaneletRoute	route information
~/input/lanelet_map_bin	autoware_map_msgs/LaneletMapBin	lanelet vector map information
~/input/pointcloud	sensor_msgs/PointCloud2	obstacle pointcloud with ground removed

Outputs

It outputs the following:

Name	Type	Description
~/output/trajectory	autoware_planning_msgs/Trajectory	validated trajectory
~/output/validation_status	planning_validator/PlanningValidatorStatus	validator status to inform the reason why the trajectory is valid/invalid
/diagnostics	diagnostic_msgs/DiagnosticStatus	diagnostics to report errors

Parameters

The following parameters can be set for the autoware_planning_validator:

Name	Type	Description	Default value
default_handling_type	int	set default handling type for when invalidity is detected. 0: publish invalid traj as it is, 1: publish last valid traj, 2: publish last valid traj with soft stop	0
publish_diag	bool	if true, diagnostics msg is published.	true
diag_error_count_threshold	int	Number of consecutive invalid trajectories to set the Diag to ERROR. (Fe.g, threshold = 1 means, even if the trajectory is invalid, the Diag will not be ERROR if the next trajectory is valid.)	0
display_on_terminal	bool	show error msg on terminal	true
soft_stop_deceleration	double	deceleration value to be used for soft stop action. [m/ss]	-1.0
soft_stop_jerk_lim	double	jerk limit value to be used for soft stop action. [m/sss]	0.3