Skip to content

Behavior Velocity Planner#

Overview#

behavior_velocity_planner is a planner that adjust velocity based on the traffic rules. It loads modules as plugins. Please refer to the links listed below for detail on each module.

Architecture

When each module plans velocity, it considers based on base_link(center of rear-wheel axis) pose. So for example, in order to stop at a stop line with the vehicles' front on the stop line, it calculates base_link position from the distance between base_link to front and modifies path velocity from the base_link position.

set_stop_velocity

Input topics#

Name Type Description
~input/path_with_lane_id autoware_auto_planning_msgs::msg::PathWithLaneId path with lane_id
~input/vector_map autoware_auto_mapping_msgs::msg::HADMapBin vector map
~input/vehicle_odometry nav_msgs::msg::Odometry vehicle velocity
~input/dynamic_objects autoware_auto_perception_msgs::msg::PredictedObjects dynamic objects
~input/no_ground_pointcloud sensor_msgs::msg::PointCloud2 obstacle pointcloud
~/input/compare_map_filtered_pointcloud sensor_msgs::msg::PointCloud2 obstacle pointcloud filtered by compare map. Note that this is used only when the detection method of run out module is Points.
~input/traffic_signals autoware_auto_perception_msgs::msg::TrafficSignalArray traffic light states

Output topics#

Name Type Description
~output/path autoware_auto_planning_msgs::msg::Path path to be followed
~output/stop_reasons tier4_planning_msgs::msg::StopReasonArray reasons that cause the vehicle to stop

Node parameters#

Parameter Type Description
launch_modules vector<string> module names to launch
forward_path_length double forward path length
backward_path_length double backward path length
max_accel double (to be a global parameter) max acceleration of the vehicle
system_delay double (to be a global parameter) delay time until output control command
delay_response_time double (to be a global parameter) delay time of the vehicle's response to control commands