Planning Validator#
The autoware_planning_validator is a module that checks the validity of a trajectory before it is published. The status of the validation can be viewed in the /diagnostics and /validation_status topics. When an invalid trajectory 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".
Supported features#
The following features are supported for trajectory validation and can have thresholds set by parameters:
- Invalid field : e.g. Inf, Nan
- Trajectory points interval : invalid if any of the distance of trajectory points is too large
- Curvature : invalid if the trajectory has too sharp turns that is not feasible for the given vehicle kinematics
- Relative angle : invalid if the yaw angle changes too fast in the sequence of trajectory points
- Lateral acceleration : invalid if the expected lateral acceleration/deceleration is too large
- Longitudinal acceleration/deceleration : invalid if the acceleration/deceleration in the trajectory point is too large
- Steering angle : invalid if the expected steering value is too large estimated from trajectory curvature
- Steering angle rate : invalid if the expected steering rate value is too large
- Velocity deviation : invalid if the planning velocity is too far from the ego velocity
- Distance deviation : invalid if the ego is too far from the trajectory
- Longitudinal distance deviation : invalid if the trajectory is too far from ego in longitudinal direction
- Forward trajectory length : invalid if the trajectory length is not enough to stop within a given deceleration
The following features are to be implemented.
- (TODO) TTC calculation : invalid if the expected time-to-collision is too short on the trajectory
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/trajectory |
autoware_planning_msgs/Trajectory | target trajectory to be validated in this node |
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#
| Name | Type | Description | Default | Range |
|---|---|---|---|---|
| invalid_trajectory_handling_type | integer | Operation option when invalid trajectory is detected. 0: publish the trajectory even if it is invalid, 1: stop publishing the trajectory, 2: publish the last validated trajectory. | 0 | [0, 1, 2] |
| publish_diag | boolean | If true, diagnostic messages are published. | 1 | N/A |
| diag_error_count_threshold | integer | If the number of consecutive invalid trajectories exceeds this threshold, the Diag will be set to ERROR. | 0 | N/A |
| display_on_terminal | boolean | Show error messages on the terminal. | 1 | N/A |
| thresholds.interval | float | Interval threshold. | 100 | N/A |
| thresholds.relative_angle | float | Relative angle threshold (= 115 degrees). | 2 | N/A |
| thresholds.curvature | float | Curvature threshold. | 1 | N/A |
| thresholds.lateral_acc | float | Lateral acceleration threshold. | 9.8 | N/A |
| thresholds.longitudinal_max_acc | float | Maximum longitudinal acceleration threshold. | 9.8 | N/A |
| thresholds.longitudinal_min_acc | float | Minimum longitudinal acceleration threshold. | -9.8 | N/A |
| thresholds.steering | float | Steering threshold. | 1.414 | N/A |
| thresholds.steering_rate | float | Steering rate threshold. | 10 | N/A |
| thresholds.velocity_deviation | float | Velocity deviation threshold. | 100 | N/A |
| thresholds.distance_deviation | float | Distance deviation threshold. | 100 | N/A |
| thresholds.longitudinal_distance_deviation | float | Longitudinal distance deviation threshold. | 1 | N/A |
| parameters.forward_trajectory_length_acceleration | float | The required trajectory length is calculated as the distance needed to stop from the current speed at this deceleration. | -3 | N/A |
| parameters.forward_trajectory_length_margin | float | An error is raised if the required trajectory length is less than this distance. Setting it to 0 means an error will occur if even slightly exceeding the end of the path, therefore, a certain margin is necessary. | 2 | N/A |