traffic_light_arbiter
Purpose
This package receives traffic signals from perception and external (e.g., V2X) components and combines them using either a confidence-based or a external-preference based approach.
TrafficLightArbiter
A node that merges traffic light/signal state from image recognition and external (e.g., V2X) systems to provide to a planning component.
Name |
Type |
Description |
~/sub/vector_map |
autoware_auto_mapping_msgs::msg::HADMapBin |
The vector map to get valid traffic signal ids. |
~/sub/perception_traffic_signals |
autoware_perception_msgs::msg::TrafficSignalArray |
The traffic signals from the image recognition pipeline. |
~/sub/external_traffic_signals |
autoware_perception_msgs::msg::TrafficSignalArray |
The traffic signals from an external system. |
Output
Name |
Type |
Description |
~/pub/traffic_signals |
autoware_perception_msgs::msg::TrafficSignalArray |
The merged traffic signal state. |
Parameters
Core Parameters
Name |
Type |
Default Value |
Description |
external_time_tolerance |
double |
5.0 |
The duration in seconds an external message is considered valid for merging |
perception_time_tolerance |
double |
1.0 |
The duration in seconds a perception message is considered valid for merging |
external_priority |
bool |
false |
Whether or not externals signals take precedence over perception-based ones. If false, the merging uses confidence as a criteria |