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.

• Blind Spot
• Crosswalk
• Walkway
• Detection Area
• Intersection
• MergeFromPrivate
• Stop Line
• Virtual Traffic Light
• Traffic Light
• Occlusion Spot
• No Stopping Area
• Run Out
• Speed Bump
• Out of Lane

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.

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_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