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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.

Inputs / Outputs#

Input#

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