From dfa52cab7d5b3341b020c0a9ebeea83b5b1a4e41 Mon Sep 17 00:00:00 2001 From: Ahmed Ebrahim <36835765+ahmeddesokyebrahim@users.noreply.github.com> Date: Tue, 13 Jun 2023 16:39:54 +0300 Subject: [PATCH] feat: invalid lanelet documentation (#337) * feat: invalid lanelet documentation Signed-off-by: AhmedEbrahim * feat: changing module name from invalid_lanelet to no_drivable_lane Signed-off-by: AhmedEbrahim * feat(no_drivable_lane): updating the node diagram file will smaller one in size Signed-off-by: AhmedEbrahim * feat(no_drivable_lane): reverting back to large size image Signed-off-by: AhmedEbrahim * feat(no_drivable_lane): fix review comments / add missing parts regarding no_drivable_lane module documentation Signed-off-by: AhmedEbrahim * feat(no_drivable_lane): updating no_drivable_lane doc link Signed-off-by: AhmedEbrahim * feat(no_drivable_lane): fixing review comment / update missing no_drivable_lane link Signed-off-by: AhmedEbrahim --------- Signed-off-by: AhmedEbrahim --- ...-node-diagram-autoware-universe.drawio.svg | 4733 +---------------- .../features-no-drivable-lane.drawio.svg | 4 + .../image/planning-diagram.drawio.svg | 1485 +----- .../autoware-architecture/planning/index.md | 3 +- 4 files changed, 14 insertions(+), 6211 deletions(-) create mode 100644 docs/design/autoware-architecture/planning/image/features-no-drivable-lane.drawio.svg diff --git a/docs/design/autoware-architecture/node-diagram/overall-node-diagram-autoware-universe.drawio.svg b/docs/design/autoware-architecture/node-diagram/overall-node-diagram-autoware-universe.drawio.svg index ec3ba93b27f..55d2f5d7a25 100644 --- a/docs/design/autoware-architecture/node-diagram/overall-node-diagram-autoware-universe.drawio.svg +++ b/docs/design/autoware-architecture/node-diagram/overall-node-diagram-autoware-universe.drawio.svg @@ -1,4729 +1,4 @@ - - - - - - - -
-
-
- Planning -
-
-
- - - Planning - - - - - - - -
-
-
- Control -
-
-
- - - Control - - - - - - - -
-
-
- Perception -
-
-
- - - Perception - - - - - - - -
-
-
- Vehicle -
-
-
- - - Vehicle - - - - - - - -
-
-
- Sensing -
-
-
- - - Sensing - - - - - - - -
-
-
- VehicleInterface -
-
-
- - - VehicleInterface - - - - - - - -
-
-
- Localization -
-
-
- - - Localization - - - - - - - -
-
-
- System -
-
-
- - - System - - - - - - - - -
-
-
- /diagnostics -
-
-
- - - /diagnostics - - - - - - - -
-
-
- XX1 -
-
-
- - - XX1 - - - - - - - -
-
-
- X2 -
-
-
- - - X2 - - - - - - - -
-
-
- X1 -
-
-
- - - X1 - - - - - - - -
-
-
- S1 -
-
-
- - - S1 - - - - - - - - -
-
-
- /vehicle/status/velocity_report -
-
-
- - - /vehicle/status/velocity_report - - - - - - - - -
-
-
-
- /autoware/engage [Engage] -
-
- /current_gate_mode [GateMode] -
-
-
-
- - - /autoware/engage [Engage]... - - - - - - - - -
-
-
- /planning/turn_indicators_cmd [TurnIndicatorsCommand] -
- /planning/hazard_lights_cmd [HazardLightsCommand] -
-
-
- - - /planning/turn_indicators_cmd [TurnIndicatorsCommand]... - - - - - - - - -
-
-
- /planning/scenario_planning/max_velocity_candidates -
- [tier4_planning_msgs/msg/VelocityLimit] -
-
-
- - - /planning/scenario_planning/max_velocity_candidates... - - - - - - - - - -
-
-
- HMI -
-
-
- - - HMI - - - - - - - -
-
-
- HMI -
-
-
- - - HMI - - - - - - - -
-
-
- HMI -
-
-
- - - HMI - - - - - - - - -
-
-
- - /api/external/set/command/remote/control: [tier4_external_api_msgs/msg/ControlCommandStamped] - -
- - /api/external/set/command/remote/heartbeat: [tier4_external_api_msgs/msg/Heartbeat] - -
- - /api/external/set/command/remote/shift: [tier4_external_api_msgs/msg/GearShiftStamped] - -
- - /api/external/set/command/remote/turn_signal: [tier4_external_api_msgs/msg/TurnSignalStamped] - -
-
-
- - - /api/external/set/command/remote/control: [tier4_external_api_msgs/msg/ControlCommandStamped]... - - - - - - - -
-
-
- HMI -
-
-
- - - HMI - - - - - - - - - - - - - - -
-
-
- /vehicle/engage -
-
-
- - - /vehicle/engage - - - - - - - -
-
-
- HMI -
-
-
- - - HMI - - - - - - - - - - -
-
-
- /diagnostics_err -
-
-
- - - /diagnostics_err - - - - - - - - - - -
-
-
- /initialpose -
-
-
- - - /initialpose - - - - - - - -
-
-
- <pose_initializer_srv> -
-
-
- - - <pose_initializer_srv> - - - - - - - - -
-
-
- vehicle_velocity_converter/ -
- twist_with_covariance -
-
-
- - - vehicle_velocity_converter/... - - - - - - - -
-
-
- HMI -
-
-
- - - HMI - - - - - - - - -
-
-
- - pointcloud_map_ -
- loader -
- -
-
-
- - - pointcloud_map_... - - - - - - - - -
-
-
- <differential_map_loader_srv> -
-
-
- - - <differential_map_loader_srv> - - - - - - - -
-
-
- <partial_map_loader_srv> -
-
-
- - - <partial_map_loader_srv> - - - - - - - - -
-
-
- voxel_grid_downsample/pointcloud -
-
-
- - - voxel_grid_downsample/pointcloud - - - - - - - -
-
-
- voxel_grid_ -
- downsample_filter -
-
-
- - - voxel_grid_... - - - - - - - - -
-
-
- pose_twist_fusion_filter/ -
- pose_with_covariance_ -
- no_yawbias -
-
-
- - - pose_twist_fusion_filter/... - - - - - - - - -
-
-
- ekf_localizer -
-
-
- - - ekf_localizer - - - - - - - - - -
-
-
- pose_estimator/ -
- pose_with_covariance -
-
-
- - - pose_estimator/... - - - - - - - - -
-
-
- ndt_scan_matcher -
-
-
- - - ndt_scan_matcher - - - - - - - - - -
-
-
- downsample/pointcloud -
-
-
- - - downsample/pointcloud - - - - - - - -
-
-
- random_ -
- downsample_filter -
-
-
- - - random_... - - - - - - - - -
-
-
- /initialpose3d -
-
-
- - - /initialpose3d - - - - - - - - -
-
-
- pose_initializer -
-
-
- - - pose_initializer - - - - - - - - - -
-
-
- twist_estimator/twist_with_covariance -
-
-
- - - twist_estimator/twist_with_covariance - - - - - - - - -
-
-
- gyro_odometer -
-
-
- - - gyro_odometer - - - - - - - - - -
-
-
- measurement_range/pointcloud -
-
-
- - - measurement_range/pointcloud - - - - - - - -
-
-
- crop_box_filter_ -
- measurement_range -
-
-
- - - crop_box_filter_... - - - - - - - -
-
-
- vehicle_velocity_converter -
-
-
- - - vehicle_velocity_converter - - - - - - - - -
-
-
- /tf -
- (map to base_link) -
-
-
- - - /tf... - - - - - - - - -
-
-
- /localization/kinematic_state -
- [nav_msgs/msg/Odometry] -
-
-
- - - /localization/kinematic_state... - - - - - - - -
-
-
- stop_filter -
-
-
- - - stop_filter - - - - - - - -
-
-
- localization_error_monitor -
-
-
- - - localization_error_monitor - - - - - - - - -
-
-
- pose_twist_fusion_filter/ -
- pose_with_covariance -
-
-
- - - pose_twist_fusion_filter/... - - - - - - - - -
-
-
- /diagnostics -
-
-
- - - /diagnostics - - - - - - - - -
-
-
- pose_twist_fusion_filter/ -
- kinematic_state -
-
-
- - - pose_twist_fusion_filter/... - - - - - - - -
-
-
- - Map -
- -
-
-
- - - Map - - - - - - - - -
-
-
- planning_validator -
-
-
- - - planning_validator - - - - - - - - -
-
-
- trajectory_follower -
-
-
- - - trajectory_follower - - - - - - - -
-
-
- Control -
-
-
- - - Control - - - - - - - - -
-
-
- latlon_muxer -
-
-
- - - latlon_muxer - - - - - - - - - -
-
-
-
- /control/trajectory_follower/lateral/control_cmd -
-
- [AckermannLateralControlCommand] -
-
-
-
-
-
-
- - - /control/trajectory_follower/lateral/control_cmd... - - - - - - - - -
-
-
- /control/trajectory_follower/longitudinal/control_cmd -
- [LongitudinalControlCommand] -
-
-
- - - /control/trajectory_follower/longitudinal/control_cmd... - - - - - - - - -
-
-
-
- /control/trajectory_follower/control_cmd -
-
- [AckermannControlCommand] -
-
-
-
-
-
-
- - - /control/trajectory_follower/control_cmd... - - - - - - - - -
-
-
- lateral_controller -
-
-
- - - lateral_controller - - - - - - - - - -
-
-
- longitudinal_controller -
-
-
- - - longitudinal_controller - - - - - - - - - -
-
-
- vehicle_cmd_gate -
-
-
- - - vehicle_cmd_gate - - - - - - - - - -
-
-
- control/command/control_cmd -
- [AckermannControlCommand] -
-
-
- - - control/command/control_cmd... - - - - - - - - -
-
-
- /control/shift_decider/gear_cmd -
- [GearCommand] -
-
-
- - - /control/shift_decider/gear_cmd... - - - - - - - - -
-
-
- shift_decider -
-
-
- - - shift_decider - - - - - - - - - -
-
-
- external_cmd_ -
- converter -
-
-
- - - external_cmd_... - - - - - - - - - - - -
-
-
- /diagnostics -
-
-
- - - /diagnostics - - - - - - - - -
-
-
- lane_departure_ -
- checker -
-
-
- - - lane_departure_... - - - - - - - - - -
-
-
- predicted_trajectory -
-
-
- - - predicted_trajectory - - - - - - - - -
-
-
- /external/selected/external_control_cmd -
- [tier4_external_api_msgs/msg/ControlCommandStamped] -
-
-
- - - /external/selected/external_control_cmd... - - - - - - - - -
-
-
- external_cmd_ -
- selector -
-
-
- - - external_cmd_... - - - - - - - - - -
-
-
-
- - /api/external/set/command/remote/control -
- -
-
- - [tier4_external_api_msgs/msg/ControlCommandStamped] - -
-
- - /api/external/set/command/remote/shift - -
-
- - [tier4_external_api_msgs/msg/GearShiftStamped] - -
-
- - /api/external/set/command/remote/turn_signal - -
-
- - [tier4_external_api_msgs/msg/TurnSignalStamped] - -
-
-
-
- - - /api/external/set/command/remote/control... - - - - - - - - - - -
-
-
- z -
-
-
-
- - - z - - - - - - - - -
-
-
- /current_gate_mode [GateMode] -
- /gear_cmd [GearCommand] -
-
- /turn_indicators_cmd  [TurnIndicatorCommand] -
-
-
- /hazard_lights_cmd  [HazardLightsCommand] -
-
-
- /vehicle_emergency_cmd [VehicleEmergencyStamped] -
-
-
-
- - - /current_gate_mode [GateMode]... - - - - - - - - - -
-
-
- behavior_velocity_planner -
-
-
- - - behavior_velocity_planner - - - - - - - - -
-
-
- Planning -
-
-
- - - Planning - - - - - - - - -
-
-
- - /planning/scenario_planning/trajectory [Trajectory] - -
-
-
- - - /planning/scenario_planning/trajectory [Trajectory] - - - - - - - - - - -
-
-
- motion_planning/obstacle_avoidance_planner/trajectory [Trajectory] -
-
-
- - - motion_planning/obstacle_avoidance_planner/trajectory [Trajectory] - - - - - - - - -
-
-
- obstacle_ -
- avoidance_planner -
-
-
- - - obstacle_... - - - - - - - - - -
-
-
- motion_planning/obstacle_velocity_limiter/trajectory [Trajectory] -
-
-
- - - motion_planning/obstacle_velocity_limiter/trajectory [Trajectory] - - - - - - - - -
-
-
- obstacle_velocity_limiter -
-
-
- - - obstacle_velocity_limit... - - - - - - - - - -
-
-
- obstacle_stop_ -
- planner -
-
-
- - - obstacle_stop_... - - - - - - - - - -
-
-
- costmap_generator -
-
-
- - - costmap_generator - - - - - - - - - -
-
-
- external_velocity_ -
- limit_selector -
-
-
- - - external_velocity_... - - - - - - - - - -
-
-
- /planning/scenario_planning/max_velocity -
- [tier4_planning_msgs/msg/VelocityLimit] -
-
-
- - - /planning/scenario_planning/max_velocity... - - - - - - - - -
-
-
- /planning/scenario_planning/max_velocity_candidates -
- [tier4_planning_msgs/msg/VelocityLimit] -
-
-
- - - /planning/scenario_planning/max_velocity_candidates... - - - - - - - - -
-
-
- lane_driving/trajectory [Trajectory] -
-
-
- - - lane_driving/trajectory [Trajectory] - - - - - - - - -
-
-
- trajectory [Trajectory] -
-
-
- - - trajectory [Trajectory] - - - - - - - - -
-
-
- scenario_selector -
-
-
- - - scenario_selector - - - - - - - - - -
-
-
- - /planning/scenario_planning/motion_velocity_smoother/trajectory [Trajectory] - -
-
-
- - - /planning/scenario_planning/motion_velocity_smoother/trajectory [Trajectory] - - - - - - - - -
-
-
- motion_velocity_ -
- smoother -
-
-
- - - motion_velocity_... - - - - - - - - - - -
-
-
- behavior_path_planner -
-
-
- - - behavior_path_planner - - - - - - - - -
-
-
- obstacle_avoidance -
-
-
- - - obstacle_avoidance - - - - - - - -
-
-
- pull_over/out -
-
-
- - - pull_over/out - - - - - - - -
-
-
- side_shift -
-
-
- - - side_shift - - - - - - - -
-
-
- lane_change -
-
-
- - - lane_change - - - - - - - -
-
-
- lane_following -
-
-
- - - lane_following - - - - - - - -
-
-
- <Lane Driving> -
-
-
- - - <Lane Driving> - - - - - - - -
-
-
- no_stopping_area -
-
-
- - - no_stopping_area - - - - - - - -
-
-
- occlusion_spot -
-
-
- - - occlusion_spot - - - - - - - -
-
-
- intersection -
-
-
- - - intersection - - - - - - - -
-
-
- traffic_light -
-
-
- - - traffic_light - - - - - - - -
-
-
- cross_walk -
-
-
- - - cross_walk - - - - - - - -
-
-
- blind_spot -
-
-
- - - blind_spot - - - - - - - -
-
-
- detection_area -
-
-
- - - detection_area - - - - - - - -
-
-
- stop_line -
-
-
- - - stop_line - - - - - - - - - - -
-
-
- /planning/mission_planning/route -
- [autoware_auto_planning_msgs/HADMapRoute] -
-
-
- - - /planning/mission_planning/route... - - - - - - - - -
-
-
- mission_planner -
-
-
- - - mission_planner - - - - - - - - - -
-
-
- behavior_planning/path_with_lane_id -
-
-
- - - behavior_planning/path_with_lane_id - - - - - - - - -
-
-
- behavior_planning/path -
-
-
- - - behavior_planning/path - - - - - - - - -
-
-
- freespace_planner -
-
-
- - - freespace_planner - - - - - - - - - -
-
-
- costmap_generator/occupancy_grid -
-
-
- - - costmap_generator/occupancy_grid - - - - - - - - - -
-
-
- goal -
-
-
- - - goal - - - - - - - -
-
-
- virtual_stop_line -
-
-
- - - virtual_stop_line - - - - - - - -
-
-
- <Parking> -
-
-
- - - <Parking> - - - - - - - - -
-
-
- - parking/trajectory [Trajectory] - -
-
-
- - - parking/trajectory [Trajectory] - - - - - - - - -
-
-
- surround_obstacle_checker -
-
-
- - - surround_obstacle_checker - - - - - - - - - - -
-
-
- Perception -
-
-
- - - Perception - - - - - - - - -
-
-
- /perception/object_recognition/objects -
-
-
- - - /perception/object_recognition/objects - - - - - - - - -
-
-
- traffic_light_states -
-
-
- - - traffic_light_states - - - - - - - -
-
-
-
- /perception/traffic_light_recognition/ -
-
-
-
-
- - - /perception/traffic_light_... - - - - - - - -
-
-
-
- /perception/object_recognition/ -
-
-
-
-
- - - /perception/object_recognition/ - - - - - - - -
-
-
-
- /perception/object_recognition/detection/ -
-
-
-
-
- - - /perception/object_recognition/detection/ - - - - - - - - -
-
-
- clustering/downsampled/pointcloud -
-
-
- - - clustering/downsampled/pointcloud - - - - - - - -
-
-
- voxel_grid_filter -
-
-
- - - voxel_grid_filter - - - - - - - - -
-
-
- clustering/downsampled/concatenated/pointcloud -
-
-
- - - clustering/downsampled/concatenated/pointcloud - - - - - - - -
-
-
- outlier_filter -
-
-
- - - outlier_filter - - - - - - - - -
-
-
- clustering/cluster -
-
-
- - - clustering/cluster - - - - - - - - -
-
-
- euclidean_cluster -
-
-
- - - euclidean_cluster - - - - - - - - - -
-
-
- clustering/short_range/pointcloud -
-
-
- - - clustering... - - - - - - - - -
-
-
-

- detection_by -
- _tracker/objects -

-
-
-
- - - detection_by... - - - - - - - - - - - - -
-
-
- centerpoint/validation/objects -
-
-
- - - centerpoint/validation/objects - - - - - - - - -
-
-
- lidar_centerpoint -
-
-
- - - lidar_centerpoint - - - - - - - - - -
-
-
- map_based_ -
- prediction -
-
-
- - - map_based_... - - - - - - - - - -
-
-
- traffic_light_detection/rough/rois -
-
-
- - - traffic_light_detection/rough/rois - - - - - - - - -
-
-
- traffic_light_map_ -
- based_detector -
-
-
- - - traffic_light_map_... - - - - - - - - - -
-
-
- detection/objects -
-
-
- - - detection/objects - - - - - - - - -
-
-
- traffic_light_ -
- classifier -
-
-
- - - traffic_light_... - - - - - - - - - -
-
-
- traffic_light_ -
- ssd_fine_detector -
-
-
- - - traffic_light_... - - - - - - - - - - - -
-
-
- route, -
- vector_map -
-
-
- - - route,... - - - - - - - - -
-
-
- multi_object_ -
- tracker -
-
-
- - - multi_object_... - - - - - - - - - -
-
-
- object_association -
- _merger -
-
-
- - - object_association... - - - - - - - - - -
-
-
- shape_estimation -
-
-
- - - shape_estimation - - - - - - - - -
-
-
-
- /perception/occupancy_grid_map/ -
-
-
-
-
- - - /perception/occupancy_grid_map/ - - - - - - - -
-
-
-
- /perception/obstacle_segmentation/ -
-
-
-
-
- - - /perception/obstacle_segmentation/ - - - - - - - - - - - - -
-
-
- no_ground/oneshot/pointcloud -
-
-
- - - no_ground/oneshot/pointcloud - - - - - - - - -
-
-
- range_cropped/pointcloud -
-
-
- - - range_cropped/pointcloud - - - - - - - - -
-
-
- common_ -
- ground_filter -
-
-
- - - common_... - - - - - - - - - -
-
-
- occupancy_grid -
-
-
- - - occupancy_grid - - - - - - - - -
-
-
- /perception/occupancy_grid_map/map -
-
-
- - - /perception/occupancy_grid_map/map - - - - - - - - -
-
-
- probabilistic_ -
- occupancy_grid_map -
-
-
- - - probabilistic_... - - - - - - - - - -
-
-
- occupancy_grid_ -
- map_based_outlier_filter -
-
-
- - - occupancy_grid_... - - - - - - - - - -
-
-
- /perception/obstacle_segmentation/pointcloud -
-
-
- - - /perception/obstacle_segmentation/pointcloud - - - - - - - - -
-
-
- crop_box_filter -
-
-
- - - crop_box_filter - - - - - - - - - -
-
-
- /concatenated/pointcloud -
-
-
- - - /concatena... - - - - - - - - -
-
-
- obstacle_pointcloud _based_validator -
-
-
- - - obstacle_pointcloud _ba... - - - - - - - - - - - -
-
-
- object_association -
- _merger -
-
-
- - - object_association... - - - - - - - - - -
-
-
- tensorrt_yolo -
-
-
- - - tensorrt_yolo - - - - - - - - - -
-
-
- /perception/obstacle_segmentation/pointcloud -
-
-
- - - /perception/obstacle_segmentation/pointcloud - - - - - - - - -
-
-
- roi_cluster_fusion -
-
-
- - - roi_cluster_fusion - - - - - - - - - - - -
-
-
- /rois* -
-
-
- - - /rois* - - - - - - - - -
-
-
- shape_estimation -
-
-
- - - shape_estimation - - - - - - - - - - - -
-
-
- detection_by_ -
- tracker_node -
-
-
- - - detection_by_... - - - - - - - - - - - -
-
-
- clustering/camera_lidar_fusion -
- /objects -
-
-
- - - clustering/camera_lidar_fusion... - - - - - - - - - - -
-
-
- /sensing/camera/ -
- camera*/image_rect_color -
-
-
- - - /sensing/camera/... - - - - - - - - -
-
-
- object_lanelet_filter -
-
-
- - - object_lanelet_filter - - - - - - - - - - - -
-
-
- /map/vector_map -
-
-
- - - /map/vector_map - - - - - - - - -
-
-
- /map/vector_map -
-
-
- - - /map/vector_map - - - - - - - -
-
-
- outliter_cropbox_filter -
-
-
- - - outliter_cropbox_fil... - - - - - - - - -
-
-
- /perception/obstacle_segmentation/pointcloud -
-
-
- - - /perception/obstacle_segmentation/pointcloud - - - - - - - -
-
-
- concat_filter -
-
-
- - - concat_filter - - - - - - - - -
-
-
- clustering/outlier_filter/pointcloud -
-
-
- - - clustering/outlier_filter/pointcloud - - - - - - - - -
-
-
- clustering/long_range/pointcloud -
-
-
- - - clustering/long_range/pointcloud - - - - - - - -
-
-
- g30_interface -
-
-
- - - g30_interface - - - - - - - - -
-
-
- raw_vehicle_cmd_ -
- converter -
-
-
- - - raw_vehicle_cmd_... - - - - - - - - - -
-
-
- /vehicle/command/actuation_cmd -
-
-
- - - /vehicle/command/actuation_cmd - - - - - - - - -
-
-
- pacmod_interface -
-
-
- - - pacmod_interface - - - - - - - - -
-
-
- VehicleInterface -
-
-
- - - VehicleInterface - - - - - - - - -
-
-
- /vehicle/status/velocity_status -
- /vehicle/status/steering_status -
- /vehicle/status/turn_indicators_status -
- /vehicle/status/gear_status -
- /vehicle/status/control_mode -
- /vehicle/status/ - - actuation_status - -
-
-
- - - /vehicle/s... - - - - - - - -
-
-
- vehicle_interface -
-
-
- - - vehicle_interface - - - - - - - - -
-
-
- accel_map_calibrator -
-
-
- - - accel_map_calibrator - - - - - - - - - - -
-
-
- /pacmod/** -
-
-
- - - /pacmod/** - - - - - - - -
-
-
- Vehicle -
-
-
- - - Vehicle - - - - - - - - -
-
-
- <CAN> -
-
-
- - - <CAN> - - - - - - - -
-
-
- JapanTaxi -
-
-
- - - JapanTaxi - - - - - - - - -
-
-
- pacmod3 -
-
-
- - - pacmod3 - - - - - - - - -
-
-
- YMC GolfCart -
-
-
- - - YMC GolfCart - - - - - - - - -
-
-
- top/velodyne_packets -
-
-
- - - top/velodyne_packets - - - - - - - -
-
-
- lidar_driver -
-
-
- - - lidar_driver - - - - - - - - -
-
-
- top/rectified/pointcloud -
-
-
- - - top/rectified/pointcloud - - - - - - - - -
-
-
- fix_distortion -
-
-
- - - fix_distortion - - - - - - - - - -
-
-
- top/pointcloud_raw -
-
-
- - - top/pointcloud_raw - - - - - - - -
-
-
- packets_to_ -
- pointcloud -
-
-
- - - packets_to_... - - - - - - - - -
-
-
- top/self_cropped/pointcloud -
-
-
- - - top/self_cropped/pointcloud - - - - - - - - -
-
-
- crop_box_ -
- filter_self -
-
-
- - - crop_box_... - - - - - - - - - -
-
-
- top/mirror_cropped/pointcloud -
-
-
- - - top/mirror_cropped/pointcloud - - - - - - - - -
-
-
- crop_box_ -
- filter_mirror -
-
-
- - - crop_box_... - - - - - - - - - -
-
-
- ring_outlier_filter -
-
-
- - - ring_outlier_filter - - - - - - - - - -
-
-
- lidar/*/velodyne_packets -
-
-
- - - lidar/*/velodyne_packets - - - - - - - -
-
-
- lidar_drivers -
- (left,right,front_right, front_left,rear) -
-
-
- - - lidar_drivers... - - - - - - - - -
-
-
- - */rectified/pointcloud - -
-
-
- - - */rectified/pointcloud - - - - - - - - -
-
-
- fix_distortion -
-
-
- - - fix_distortion - - - - - - - - - -
-
-
- - */pointcloud_raw - -
-
-
- - - */pointcloud_raw - - - - - - - -
-
-
- packets_to_ -
- pointcloud -
-
-
- - - packets_to_... - - - - - - - - -
-
-
- - */self_cropped/pointcloud - -
-
-
- - - */self_cropped/pointcloud - - - - - - - - -
-
-
- crop_box_ -
- filter_self -
-
-
- - - crop_box_... - - - - - - - - - -
-
-
- - */mirror_cropped/pointcloud - -
-
-
- - - */mirror_cropped/pointcloud - - - - - - - - -
-
-
- crop_box_ -
- filter_mirror -
-
-
- - - crop_box_... - - - - - - - - - -
-
-
- ring_outlier_filter -
-
-
- - - ring_outlier_filter - - - - - - - - - -
-
-
- concatenated/pointcloud -
-
-
- - - concatenated/pointcloud - - - - - - - - -
-
-
- concat_filter -
-
-
- - - concat_filter - - - - - - - - - - - - - -
-
-
- gnss_poser -
-
-
- - - gnss_poser - - - - - - - - - - -
-
-
- gnss_driver -
-
-
- - - gnss_driver - - - - - - - -
-
-
- imu_driver -
-
-
- - - imu_driver - - - - - - - - -
-
-
- /sensing/imu/imu_raw -
-
-
- - - /sensing/imu/imu_raw - - - - - - - - -
-
-
- /sensing/lidar/pointcloud -
-
-
- - - /sensing/lidar/pointcloud - - - - - - - - -
-
-
- - /sensing/lidar/ -
- concatenated/pointcloud - -
-
-
- - - /sensing/lidar/... - - - - - - - - -
-
-
- /sensing/gnss/ -
- pose_with_covariance -
-
-
- - - /sensing/gnss/... - - - - - - - - -
-
-
- imu_corrector -
-
-
- - - imu_corrector - - - - - - - - - -
-
-
- /sensing/imu/imu_data -
-
-
- - - /sensing/imu/imu_data - - - - - - - -
-
-
- Sensing -
-
-
- - - Sensing - - - - - - - -
-
-
- Localization -
-
-
- - - Localization - - - - - - - - -
-
-
- system_monitors -
-
-
- - - system_monitors - - - - - - - - -
-
-
- System -
-
-
- - - System - - - - - - - -
-
-
- autoware_process_ -
- monitor -
-
-
- - - autoware_process_... - - - - - - - -
-
-
- autoware_gpu_ -
- monitor -
-
-
- - - autoware_gpu_... - - - - - - - -
-
-
- autoware_mem_ -
- monitor -
-
-
- - - autoware_mem_... - - - - - - - -
-
-
- autoware_hdd_ -
- monitor -
-
-
- - - autoware_hdd_... - - - - - - - -
-
-
- autoware_net_ -
- monitor -
-
-
- - - autoware_net_... - - - - - - - -
-
-
- autoware_ntp_ -
- monitor -
-
-
- - - autoware_ntp_... - - - - - - - - -
-
-
- /system/emergency/hazard_status -
-
-
- - - /system/emergency/hazard_status - - - - - - - - -
-
-
- system_error_ -
- monitor -
-
-
- - - system_error_... - - - - - - - - - -
-
-
-
- /system/emergency/control_cmd [AckermannControlCommand] -
-
- /system/emergency/gear_cmd [GearCommand] -
-
- /system/emergency/hazard_lights_cmd [HazardLightsCommand] -
- /system/emergency/emergency_state [EmergencyStateStamped] -
-
-
- - - /system/emergency/control_cmd [AckermannControlCommand]... - - - - - - - - -
-
-
- emergency_handler -
-
-
- - - emergency_handler - - - - - - - - - -
-
-
- /autoware/state -
-
-
- - - /autoware/state - - - - - - - - -
-
-
- /diagnostics -
-
-
- - - /diagnostics - - - - - - - - -
-
-
- ad_service_ -
- state_monitor -
-
-
- - - ad_service_... - - - - - - - - - -
-
-
-
- - /control/current_gate_mode - -
-
- - /vehicle/status/control_mode - -
-
- - /autoware/state - -
-
-
-
- - - /control/c... - - - - - - - - -
-
-
- /control/command/control_cmd -
- /control/trajectory_follower/control_cmd -
- /initialpose2d -
- /localization/kinematic_state -
- /map/pointcloud_map -
- /map/vector_map -
- /perception/object_recognition/objects -
- /planning/mission_planning/route -
- /planning/scenario_planning/trajectory -
- /system/emergency/control_cmd -
- /vehicle/status/control_mode -
- /vehicle/status/steering_status -
- /vehicle/status/velocity_status -
-
-
- - - /contr... - - - - - - - - -
-
-
- /autoware/engage -
-
-
- - - /autoware/engage - - - - - - - - - Text is not SVG - cannot display - - - - \ No newline at end of file + + + +
Planning
Planning
Control
Control
Perception
Perception
Vehicle
Vehicle
Sensing
Sensing
VehicleInterface
VehicleInterface
Localization
Localization
System
System
/diagnostics
/diagnostics
XX1
XX1
X2
X2
X1
X1
S1
S1
/vehicle/status/velocity_report
/vehicle/status/velocity_report
/autoware/engage [Engage]
/current_gate_mode [GateMode]
/autoware/engage [Engage]...
/planning/turn_indicators_cmd [TurnIndicatorsCommand]
/planning/hazard_lights_cmd [HazardLightsCommand]
/planning/turn_indicators_cmd [TurnIndicatorsCommand]...
/planning/scenario_planning/max_velocity_candidates
[tier4_planning_msgs/msg/VelocityLimit]
/planning/scenario_planning/max_velocity_candidates...
HMI
HMI
HMI
HMI
HMI
HMI
/api/external/set/command/remote/control: [tier4_external_api_msgs/msg/ControlCommandStamped]
/api/external/set/command/remote/heartbeat: [tier4_external_api_msgs/msg/Heartbeat]
/api/external/set/command/remote/shift: [tier4_external_api_msgs/msg/GearShiftStamped]
/api/external/set/command/remote/turn_signal: [tier4_external_api_msgs/msg/TurnSignalStamped]
/api/external/set/command/remote/control: [tier4_external_api_msgs/msg/ControlCommandStamped]...
HMI
HMI
/vehicle/engage
/vehicle/engage
HMI
HMI
/diagnostics_err
/diagnostics_err
/initialpose
/initialpose
<pose_initializer_srv>
<pose_initializer_srv>
vehicle_velocity_converter/
twist_with_covariance
vehicle_velocity_converter/...
HMI
HMI
pointcloud_map_
loader
pointcloud_map_...
<differential_map_loader_srv>
<differential_map_loader_srv>
<partial_map_loader_srv>
<partial_map_loader_srv>
voxel_grid_downsample/pointcloud
voxel_grid_downsample/pointcloud
voxel_grid_
downsample_filter
voxel_grid_...
pose_twist_fusion_filter/
pose_with_covariance_
no_yawbias
pose_twist_fusion_filter/...
ekf_localizer
ekf_localizer
pose_estimator/
pose_with_covariance
pose_estimator/...
ndt_scan_matcher
ndt_scan_matcher
downsample/pointcloud
downsample/pointcloud
random_
downsample_filter
random_...
/initialpose3d
/initialpose3d
pose_initializer
pose_initializer
twist_estimator/twist_with_covariance
twist_estimator/twist_with_covariance
gyro_odometer
gyro_odometer
measurement_range/pointcloud
measurement_range/pointcloud
crop_box_filter_
measurement_range
crop_box_filter_...
vehicle_velocity_converter
vehicle_velocity_converter
/tf
(map to base_link)
/tf...
/localization/kinematic_state
[nav_msgs/msg/Odometry]
/localization/kinematic_state...
stop_filter
stop_filter
localization_error_monitor
localization_error_monitor
pose_twist_fusion_filter/
pose_with_covariance
pose_twist_fusion_filter/...
/diagnostics
/diagnostics
pose_twist_fusion_filter/
kinematic_state
pose_twist_fusion_filter/...
Map
Map
planning_validator
planning_validator
invalid_lanelet
invalid_lanelet
Perception
Perception
/perception/object_recognition/objects
/perception/object_recognition/objects
traffic_light_states
traffic_light_states
/perception/traffic_light_recognition/
/perception/traffic_light_...
/perception/object_recognition/
/perception/object_recognition/
/perception/object_recognition/detection/
/perception/object_recognition/detection/
clustering/downsampled/pointcloud
clustering/downsampled/pointcloud
voxel_grid_filter
voxel_grid_filter
clustering/downsampled/concatenated/pointcloud
clustering/downsampled/concatenated/pointcloud
outlier_filter
outlier_filter
clustering/cluster
clustering/cluster
euclidean_cluster
euclidean_cluster
clustering/short_range/pointcloud
clustering...

detection_by
_tracker/objects

detection_by...
centerpoint/validation/objects
centerpoint/validation/objects
lidar_centerpoint
lidar_centerpoint
map_based_
prediction
map_based_...
traffic_light_detection/rough/rois
traffic_light_detection/rough/rois
traffic_light_map_
based_detector
traffic_light_map_...
detection/objects
detection/objects
traffic_light_
classifier
traffic_light_...
traffic_light_
ssd_fine_detector
traffic_light_...
route,
vector_map
route,...
multi_object_
tracker
multi_object_...
object_association
_merger
object_association...
shape_estimation
shape_estimation
/perception/occupancy_grid_map/
/perception/occupancy_grid_map/
/perception/obstacle_segmentation/
/perception/obstacle_segmentation/
no_ground/oneshot/pointcloud
no_ground/oneshot/pointcloud
range_cropped/pointcloud
range_cropped/pointcloud
common_
ground_filter
common_...
occupancy_grid
occupancy_grid
/perception/occupancy_grid_map/map
/perception/occupancy_grid_map/map
probabilistic_
occupancy_grid_map
probabilistic_...
occupancy_grid_
map_based_outlier_filter
occupancy_grid_...
/perception/obstacle_segmentation/pointcloud
/perception/obstacle_segmentation/pointcloud
crop_box_filter
crop_box_filter
/concatenated/pointcloud
/concatena...
obstacle_pointcloud _based_validator
obstacle_pointcloud _ba...
object_association
_merger
object_association...
tensorrt_yolo
tensorrt_yolo
/perception/obstacle_segmentation/pointcloud
/perception/obstacle_segmentation/pointcloud
roi_cluster_fusion
roi_cluster_fusion
/rois*
/rois*
shape_estimation
shape_estimation
detection_by_
tracker_node
detection_by_...
clustering/camera_lidar_fusion
/objects
clustering/camera_lidar_fusion...
/sensing/camera/
camera*/image_rect_color
/sensing/camera/...
object_lanelet_filter
object_lanelet_filter
/map/vector_map
/map/vector_map
/map/vector_map
/map/vector_map
outliter_cropbox_filter
outliter_cropbox_fil...
/perception/obstacle_segmentation/pointcloud
/perception/obstacle_segmentation/pointcloud
concat_filter
concat_filter
clustering/outlier_filter/pointcloud
clustering/outlier_filter/pointcloud
clustering/long_range/pointcloud
clustering/long_range/pointcloud
behavior_velocity_planner
behavior_velocity_planner
Planning
Planning
/planning/scenario_planning/trajectory [Trajectory]
/planning/scenario_planning/trajectory [Trajectory]
motion_planning/obstacle_avoidance_planner/trajectory [Trajectory]
motion_planning/obstacle_avoidance_planner/trajectory [Trajectory]
obstacle_
avoidance_planner
obstacle_...
motion_planning/obstacle_velocity_limiter/trajectory [Trajectory]
motion_planning/obstacle_velocity_limiter/trajectory [Trajectory]
obstacle_velocity_limiter
obstacle_velocity_limit...
obstacle_stop_
planner
obstacle_stop_...
costmap_generator
costmap_generator
external_velocity_
limit_selector
external_velocity_...
/planning/scenario_planning/max_velocity
[tier4_planning_msgs/msg/VelocityLimit]
/planning/scenario_planning/max_velocity...
/planning/scenario_planning/max_velocity_candidates
[tier4_planning_msgs/msg/VelocityLimit]
/planning/scenario_planning/max_velocity_candidates...
lane_driving/trajectory [Trajectory]
lane_driving/trajectory [Trajectory]
trajectory [Trajectory]
trajectory [Trajectory]
scenario_selector
scenario_selector
/planning/scenario_planning/motion_velocity_smoother/trajectory [Trajectory]
/planning/scenario_planning/motion_velocity_smoother/trajectory [Trajectory]
motion_velocity_
smoother
motion_velocity_...
behavior_path_planner
behavior_path_planner
obstacle_avoidance
obstacle_avoidance
pull_over/out
pull_over/out
side_shift
side_shift
lane_change
lane_change
lane_following
lane_following
<Lane Driving>
<Lane Driving>
no_stopping_area
no_stopping_area
occlusion_spot
occlusion_spot
intersection
intersection
traffic_light
traffic_light
cross_walk
cross_walk
blind_spot
blind_spot
detection_area
detection_area
stop_line
stop_line
/planning/mission_planning/route
[autoware_auto_planning_msgs/HADMapRoute]
/planning/mission_planning/route...
mission_planner
mission_planner
behavior_planning/path_with_lane_id
behavior_planning/path_with_lane_id
behavior_planning/path
behavior_planning/path
freespace_planner
freespace_planner
costmap_generator/occupancy_grid
costmap_generator/occupancy_grid
goal
goal
no_drivable_lane
no_drivable_lane
<Parking>
<Parking>
parking/trajectory [Trajectory]
parking/trajectory [Trajectory]
surround_obstacle_checker
surround_obstacle_checker
run_out
run_out
virtual_traffic_light
virtual_traffic_light
speed_bump
speed_bump
trajectory_follower
trajectory_follower
Control
Control
latlon_muxer
latlon_muxer
 /control/trajectory_follower/lateral/control_cmd
 [AckermannLateralControlCommand]

/control/trajectory_follower/lateral/control_cmd...
/control/trajectory_follower/longitudinal/control_cmd
[LongitudinalControlCommand]
/control/trajectory_follower/longitudinal/control_cmd...
/control/trajectory_follower/control_cmd
 [AckermannControlCommand]

/control/trajectory_follower/control_cmd...
lateral_controller
lateral_controller
longitudinal_controller
longitudinal_controller
vehicle_cmd_gate
vehicle_cmd_gate
control/command/control_cmd
 [AckermannControlCommand]
control/command/control_cmd...
/control/shift_decider/gear_cmd
[GearCommand]
/control/shift_decider/gear_cmd...
shift_decider
shift_decider
external_cmd_
converter
external_cmd_...
/diagnostics
/diagnostics
lane_departure_
checker
lane_departure_...
predicted_trajectory
predicted_trajectory
/external/selected/external_control_cmd
 [tier4_external_api_msgs/msg/ControlCommandStamped]
/external/selected/external_control_cmd...
external_cmd_
selector
external_cmd_...
/api/external/set/command/remote/control 
   [tier4_external_api_msgs/msg/ControlCommandStamped]
/api/external/set/command/remote/shift
   [tier4_external_api_msgs/msg/GearShiftStamped]
/api/external/set/command/remote/turn_signal
   [tier4_external_api_msgs/msg/TurnSignalStamped]
/api/external/set/command/remote/control...
z
z
/current_gate_mode [GateMode]
/gear_cmd [GearCommand]
/turn_indicators_cmd  [TurnIndicatorCommand]
/hazard_lights_cmd  [HazardLightsCommand]
/vehicle_emergency_cmd [VehicleEmergencyStamped]
/current_gate_mode [GateMode]...
g30_interface
g30_interface
raw_vehicle_cmd_
converter
raw_vehicle_cmd_...
/vehicle/command/actuation_cmd
/vehicle/command/actuation_cmd
pacmod_interface
pacmod_interface
VehicleInterface
VehicleInterface
/vehicle/status/velocity_status
/vehicle/status/steering_status
/vehicle/status/turn_indicators_status
/vehicle/status/gear_status
/vehicle/status/control_mode
/vehicle/status/actuation_status
/vehicle/s...
    vehicle_interface
    vehicle_interface
accel_map_calibrator
accel_map_calibrator
/pacmod/**
/pacmod/**
Vehicle
Vehicle
<CAN>
<CAN>
JapanTaxi
JapanTaxi
pacmod3
pacmod3
YMC GolfCart
YMC GolfCart
top/velodyne_packets
top/velodyne_packets
lidar_driver
lidar_driver
top/rectified/pointcloud
top/rectified/pointcloud
fix_distortion
fix_distortion
top/pointcloud_raw
top/pointcloud_raw
packets_to_
pointcloud
packets_to_...
top/self_cropped/pointcloud
top/self_cropped/pointcloud
crop_box_
filter_self
crop_box_...
top/mirror_cropped/pointcloud
top/mirror_cropped/pointcloud
crop_box_
filter_mirror
crop_box_...
ring_outlier_filter
ring_outlier_filter
lidar/*/velodyne_packets
lidar/*/velodyne_packets
lidar_drivers
(left,right,front_right, front_left,rear)
lidar_drivers...
*/rectified/pointcloud
*/rectified/pointcloud
fix_distortion
fix_distortion
*/pointcloud_raw
*/pointcloud_raw
packets_to_
pointcloud
packets_to_...
*/self_cropped/pointcloud
*/self_cropped/pointcloud
crop_box_
filter_self
crop_box_...
*/mirror_cropped/pointcloud
*/mirror_cropped/pointcloud
crop_box_
filter_mirror
crop_box_...
ring_outlier_filter
ring_outlier_filter
concatenated/pointcloud
concatenated/pointcloud
concat_filter
concat_filter
gnss_poser
gnss_poser
gnss_driver
gnss_driver
imu_driver
imu_driver
/sensing/imu/imu_raw
/sensing/imu/imu_raw
/sensing/lidar/pointcloud
/sensing/lidar/pointcloud
/sensing/lidar/
concatenated/pointcloud
/sensing/lidar/...
/sensing/gnss/
pose_with_covariance
/sensing/gnss/...
imu_corrector
imu_corrector
/sensing/imu/imu_data
/sensing/imu/imu_data
Sensing
Sensing
Localization
Localization
system_monitors
system_monitors
System
System
autoware_process_
monitor
autoware_process_...
autoware_gpu_
monitor
autoware_gpu_...
autoware_mem_
monitor
autoware_mem_...
autoware_hdd_
monitor
autoware_hdd_...
autoware_net_
monitor
autoware_net_...
autoware_ntp_
monitor
autoware_ntp_...
/system/emergency/hazard_status
/system/emergency/hazard_status
system_error_
monitor
system_error_...
/system/emergency/control_cmd [AckermannControlCommand]
/system/emergency/gear_cmd [GearCommand]
/system/emergency/hazard_lights_cmd [HazardLightsCommand]
/system/emergency/emergency_state [EmergencyStateStamped]
/system/emergency/control_cmd [AckermannControlCommand]...
emergency_handler
emergency_handler
/autoware/state
/autoware/state
/diagnostics
/diagnostics
ad_service_
state_monitor
ad_service_...
/control/current_gate_mode
/vehicle/status/control_mode
/autoware/state
/control/c...
    /control/command/control_cmd
    /control/trajectory_follower/control_cmd
    /initialpose2d
    /localization/kinematic_state
    /map/pointcloud_map
    /map/vector_map
    /perception/object_recognition/objects
    /planning/mission_planning/route
    /planning/scenario_planning/trajectory
    /system/emergency/control_cmd
    /vehicle/status/control_mode
    /vehicle/status/steering_status
    /vehicle/status/velocity_status
/contr...
/autoware/engage
/autoware/engageText is not SVG - cannot display \ No newline at end of file diff --git a/docs/design/autoware-architecture/planning/image/features-no-drivable-lane.drawio.svg b/docs/design/autoware-architecture/planning/image/features-no-drivable-lane.drawio.svg new file mode 100644 index 00000000000..927b621336c --- /dev/null +++ b/docs/design/autoware-architecture/planning/image/features-no-drivable-lane.drawio.svg @@ -0,0 +1,4 @@ + + + + \ No newline at end of file diff --git a/docs/design/autoware-architecture/planning/image/planning-diagram.drawio.svg b/docs/design/autoware-architecture/planning/image/planning-diagram.drawio.svg index 271002cfae6..bde7965b6fc 100644 --- a/docs/design/autoware-architecture/planning/image/planning-diagram.drawio.svg +++ b/docs/design/autoware-architecture/planning/image/planning-diagram.drawio.svg @@ -1,1481 +1,4 @@ - - - - - - - - - - - - -
-
-
- Parking Scenario -
-
-
- - - Parking Scenario - - - - - - - - - - -
-
-
- route -
-
-
- - - route - - - - - - - - -
-
-
- mission_planner -
-
-
- - - mission_planner - - - - - - - - - -
-
-
- path_with_lane_id -
-
-
- - - path_with_lane_id - - - - - - - - - - - -
-
-
- path -
-
-
- - - path - - - - - - - - - - - -
-
-
- Trajectory -
-
-
- - - Trajectory - - - - - - - - -
-
-
- obstacle_ -
- avoidance_planner -
-
-
- - - obstacle_... - - - - - - - - - -
-
-
- Trajectory -
-
-
- - - Trajectory - - - - - - - - -
-
-
- obstacle_velocity_limiter -
-
-
- - - obstacle_velocity_limiter - - - - - - - - - -
-
-
- Trajectory -
-
-
- - - Trajectory - - - - - - - - - - - -
-
-
- Trajectory -
-
-
- - - Trajectory - - - - - - - - -
-
-
- scenario_selector -
-
-
- - - scenario_selector - - - - - - - - - -
-
-
- - Trajectory - -
-
-
- - - Trajectory - - - - - - - - -
-
-
- motion_velocity_ -
- smoother -
-
-
- - - motion_velocity_... - - - - - - - - - -
-
-
- Trajectory -
-
-
- - - Trajectory - - - - - - - - -
-
-
- freespace_planner -
-
-
- - - freespace_planner - - - - - - - - - -
-
-
- occupancy_grid -
-
-
- - - occupancy_grid - - - - - - - - -
-
-
- costmap_generator -
-
-
- - - costmap_generator - - - - - - - - -
-
-
- behavior -
- velocity -
- planner -
-
-
- - - behavior... - - - - - - - -
-
-
- behavior -
- path -
- planner -
-
-
- - - behavior... - - - - - - - - -
-
-
- goal -
-
-
- - - goal - - - - - - - - - -
-
-
- obstacle -
- stop -
- planner -
-
-
- - - obstacle... - - - - - - - -
-
-
- slow_down -
-
-
- - - slow_down - - - - - - - -
-
-
- adaptive_cruise -
-
-
- - - adaptive_cruise - - - - - - - -
-
-
- stop -
-
-
- - - stop - - - - - - - -
-
-
- LaneDriving Scenario -
-
-
- - - LaneDriving Sce... - - - - - - - -
-
-
- - - Behavior Planning - - -
-
-
- - - Behavior Planning - - - - - - - -
-
-
- - - Motion Planning - - -
-
-
- - - Motion Planning - - - - - - - - - - -
-
-
- vector_map -
-
-
- - - vector_map - - - - - - - -
-
-
- To Control -
-
-
- - - To Control - - - - - - - - -
-
-
- vector_map -
-
-
- - - vector_map - - - - - - - - -
-
-
- Dynamic Objects -
-
-
- - - Dynamic Objects - - - - - - - - -
-
-
- Dynamic Objects -
-
-
- - - Dynamic Objects - - - - - - - - -
-
-
- Dynamic Objects -
-
-
- - - Dynamic Objects - - - - - - - - -
-
-
- Dynamic Objects -
-
-
- - - Dynamic Objects - - - - - - - - -
-
-
- Obstacle Points -
-
-
- - - Obstacle Points - - - - - - - - -
-
-
- Obstacle Points -
-
-
- - - Obstacle Points - - - - - - - - -
-
-
- Dynamic Objects -
-
-
- - - Dynamic Objects - - - - - - - - -
-
-
- Obstacle Points -
-
-
- - - Obstacle Points - - - - - - - - -
-
-
- route (from mission_planner) -
-
-
- - - route (from mission_planner) - - - - - - - - -
-
-
- map -
-
-
- - - map - - - - - - - - - - -
-
-
- map -
-
-
- - - map - - - - - - - - -
-
-
- vehicle_state -
-
-
- - - vehicle_state - - - - - - - -
-
-
-
- Localization -
-
-
-
- - - Localization - - - - - - - - -
-
-
- approval, -
- force_approval -
-
-
- - - approval,... - - - - - - - - -
-
-
- external_crosswalk_states, -
- external_intersection_states, -
- external_traffic_light_states -
-
-
- - - external_crosswalk_states,... - - - - - - - -
-
-
- Planning -
-
-
- - - Planning - - - - - - - - -
-
-
- Traffic Light States -
-
-
- - - Traffic Light States - - - - - - - - -
-
-
- expand_stop_range -
-
-
- - - expand_stop_range - - - - - - - -
-
-
- Perception -
-
-
- - - Perception - - - - - - - - -
-
-
- velocity_limit -
- (from external modules) -
-
-
- - - velocity_limit... - - - - - - - -
-
-
- Human -
- Machine -
- Interface -
-
-
- - - Human... - - - - - - - - - -
-
-
- Perception -
-
-
- - - Perception - - - - - - - - - -
-
-
- external_velocity -
- _limit_selector -
-
-
- - - external_velocity... - - - - - - - - -
-
-
- velocity_limit -
-
-
-
- - - velocity_l... - - - - - - - -
-
-
- avoidance -
-
-
- - - avoidance - - - - - - - -
-
-
- side_shift -
-
-
- - - side_shift - - - - - - - -
-
-
- lane_change -
-
-
- - - lane_change - - - - - - - -
-
-
- lane_following -
-
-
- - - lane_following - - - - - - - -
-
-
- pull_over -
-
-
- - - pull_over - - - - - - - -
-
-
- pull_out -
-
-
- - - pull_out - - - - - - - -
-
-
- blind_spot -
-
-
- - - blind_spot - - - - - - - -
-
-
- cross_walk -
-
-
- - - cross_walk - - - - - - - -
-
-
- stop_line -
-
-
- - - stop_line - - - - - - - -
-
-
- traffic_light -
-
-
- - - traffic_light - - - - - - - -
-
-
- intersection -
-
-
- - - intersection - - - - - - - -
-
-
- detection_area -
-
-
- - - detection_area - - - - - - - -
-
-
- no_stopping_area -
-
-
- - - no_stopping_area - - - - - - - -
-
-
- virtual_traffic_light -
-
-
- - - virtual_traffic_light - - - - - - - -
-
-
- occlusion_spot -
-
-
- - - occlusion_spot - - - - - - - -
-
-
- run_out -
-
-
- - - run_out - - - - - - - - -
-
-
- check_point -
-
-
- - - check_point - - - - - - - - -
-
-
- vector_map -
-
-
- - - vector_map - - - - - - - - -
-
-
- surround_obstacle_checker -
-
-
- - - surround_obstacle_checker - - - - - - - - -
-
-
- (from other planning modules) -
-
-
- - - (from othe... - - - - - - - - -
-
-
- Obstacle Points -
-
-
- - - Obstacle Points - - - - - - - - -
-
-
- Dynamic Objects -
-
-
- - - Dynamic Objects - - - - - - - - -
-
-
- - Trajectory - -
-
-
- - - Trajectory - - - - - - - - -
-
-
- planning_validator -
-
-
- - - planning_validator - - - - - - - - - - Text is not SVG - cannot display - - - - \ No newline at end of file + + + +
Parking Scenario
Parking Scenario
route
route高精度地図情報をもとに、自己位置からゴールまでのルートを計算します。高精度地図情報をもとに、自己位置からゴールまでのルートを計算します。
mission_planner
mission_planner
path_with_lane_id
path_with_lane_idルート情報や障害物情報をもとに、レーンチェンジを実行します。
path
path交通ルールをもとに、経路上の最大速度を決定します。各モジュールは、自身の計算した最大速度と上段の結果を比較し、小さい速度を経路上に書き込みます。
Trajectory
Trajectory車両形状や走行可能領域を考慮して、経路の平滑化を行う。障害物も避けるが、long historyで最近は回避機能はoffになっています。車両形状や走行可能領域を考慮して、経路の平滑化を行う。障害物も避けるが、long historyで最近は回避機能はoffになっています。
obstacle_
avoidance_planner
obstacle_...
Trajectory
Trajectory自車が停止しているときに、周囲の障害物を確認し、近くに障害物がいる場合は車両を発進させない。自車が停止しているときに、周囲の障害物を確認し、近くに障害物がいる場合は車両を発進させない。
obstacle_velocity_limiter
obstacle_velocity_limiter
Trajectory
Trajectory障害物停止・前車追従・近傍障害物減速の複数の機能を持ち、機能に応じて経路上に速度を埋め込む。 目標経路上に障害物点がある場合は停止、経路近くに障害物点群がある場合は減速、前方に車両が居る場合は前車追従。
Trajectory
Trajectoryいまのrouteおよび地図情報から、LaneDriving / Parkingのシナリオを判断し、どちらの経路を使うかを切り替える。いまのrouteおよび地図情報から、LaneDriving / Parkingのシナリオを判断し、どちらの経路を使うかを切り替える。
scenario_selector
scenario_selector
Trajectory
Trajectory経路に埋め込まれた最大速度を超過しないように、うまい具合で速度を平滑化する。カーブでの減速もここで行う。経路に埋め込まれた最大速度を超過しないように、うまい具合で速度を平滑化する。カーブでの減速もここで行う。
motion_velocity_
smoother
motion_velocity_...
Trajectory
Trajectoryコストマップとゴールから、自車の走行ルートを計算する。いまはHA*を使ってる。コストマップとゴールから、自車の走行ルートを計算する。いまはHA*を使ってる。
freespace_planner
freespace_planner
occupancy_grid
occupancy_grid障害物点群や地図の走行可能エリアの情報から、駐車プランナー用のコストマップを生成する。障害物点群や地図の走行可能エリアの情報から、駐車プランナー用のコストマップを生成する。
costmap_generator
costmap_generator
behavior
velocity
planner
behavior...
behavior
path
planner
behavior...
goal
goal
obstacle
stop
planner
obstacle...障害物回避の可否判定と実行障害物回避の可否判定と実行
slow_down
slow_down入力シフト量に応じて経路を横方向にシフトさせる入力シフト量に応じて経路を横方向にシフトさせる
adaptive_cruise
adaptive_cruiseレーンチェンジの可否判定と実行レーンチェンジの可否判定と実行
stop
stop
LaneDriving Scenario
LaneDriving Sce...
Behavior Planning
Behavior Planning
Motion Planning
Motion Planning
vector_map
vector_map
To Control
To Control
vector_map
vector_map
Dynamic Objects
Dynamic Objects
Dynamic Objects
Dynamic Objects
Dynamic Objects
Dynamic Objects
Dynamic Objects
Dynamic Objects
Obstacle Points
Obstacle Points
Obstacle Points
Obstacle Points
Dynamic Objects
Dynamic Objects
Obstacle Points
Obstacle Points
route (from mission_planner)
route (from mission_planner)
map
map
map
map
vehicle_state
vehicle_state
Localization
Localization
approval,
force_approval
approval,...
external_crosswalk_states,
external_intersection_states,
external_traffic_light_states
external_crosswalk_states,...
Planning
Planning
Traffic Light States
Traffic Light States
expand_stop_range
expand_stop_range
Perception
Perception
velocity_limit
(from external modules)
velocity_limit...
Human
Machine
Interface
Human...
Perception
Perception
external_velocity
_limit_selector
external_velocity...
velocity_limit
velocity_l...障害物回避の可否判定と実行障害物回避の可否判定と実行
avoidance
avoidance入力シフト量に応じて経路を横方向にシフトさせる入力シフト量に応じて経路を横方向にシフトさせる
side_shift
side_shiftレーンチェンジの可否判定と実行レーンチェンジの可否判定と実行
lane_change
lane_change通常走行通常走行
lane_following
lane_following
pull_over
pull_over
pull_out
pull_out右左折時に車両後方の巻き込み確認を行い、衝突の危険がある場合は停止します。右左折時に車両後方の巻き込み確認を行い、衝突の危険がある場合は停止します。
blind_spot
blind_spot横断歩道に人が居る、もしくは侵入しようとしてきている場合に、横断歩道手前で停止します。近くに人が居る場合は徐行します。横断歩道に人が居る、もしくは侵入しようとしてきている場合に、横断歩道手前で停止します。近くに人が居る場合は徐行します。
cross_walk
cross_walk規定された停止線で一時停止を行います規定された停止線で一時停止を行います
stop_line
stop_line信号の色に応じて停止/発進の指示をします信号の色に応じて停止/発進の指示をします
traffic_light
traffic_light地図情報および動物体情報から、交差点での停止/発進の判定を行います。地図情報および動物体情報から、交差点での停止/発進の判定を行います。
intersection
intersection規定エリア内の障害物点群がある場合に、対応する位置で停止します規定エリア内の障害物点群がある場合に、対応する位置で停止します
detection_area
detection_area
no_stopping_area
no_stopping_area
virtual_traffic_light
virtual_traffic_light
occlusion_spot
occlusion_spot
run_out
run_out
check_point
check_point
vector_map
vector_map自車が停止しているときに、周囲の障害物を確認し、近くに障害物がいる場合は車両を発進させない。自車が停止しているときに、周囲の障害物を確認し、近くに障害物がいる場合は車両を発進させない。
surround_obstacle_checker
surround_obstacle_checker
(from other planning modules)
(from othe...
Obstacle Points
Obstacle Points
Dynamic Objects
Dynamic Objects
Trajectory
TrajectoryCheck the trajectory and stop publishing it if it is unsafe.Check the trajectory and stop publishing it if it is unsafe.
planning_validator
planning_validator
no_drivable_lane
no_drivable_laneText is not SVG - cannot display \ No newline at end of file diff --git a/docs/design/autoware-architecture/planning/index.md b/docs/design/autoware-architecture/planning/index.md index 288c4351586..7fa207311ef 100644 --- a/docs/design/autoware-architecture/planning/index.md +++ b/docs/design/autoware-architecture/planning/index.md @@ -128,7 +128,7 @@ As mentioned in the goal session, this planning module is designed to be extensi | Merge from Private Area to Public Road | Plan velocity for entering the public road from a private driveway to avoid a risk of collision with pedestrians or other vehicles.

Reference implementation is in [Merge from Private Area Module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_intersection_module/). | - objects information
- Lanelet map (private/public lane) | WIP | | Speed Bump | Plan velocity to decelerate for speed bumps.

Reference implementation is in [Speed Bump Module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_speed_bump_module/). | - Lanelet map (speed bump) | ![speed-bump](image/features-speed-bump.drawio.svg) | | Detection Area | Plan velocity to stop at the corresponding stop when an object exist in the designated detection area.

Reference implementation is in [Detection Area Module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_detection_area_module/). | - Lanelet map (detection area) | ![detection-area](image/features-detection-area.drawio.svg) | -| Out of ODD area | Plan velocity to stop before exiting the area designated by ODD (Operational Design Domain).

Reference implementation is in (WIP). | - Lanelet map (invalid lanelet) | WIP | +| No Drivable Lane | Plan velocity to stop before exiting the area designated by ODD (Operational Design Domain) or stop the vehicle if autonomous mode started in out of ODD lane.

Reference implementation is in [No Drivable Lane Module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_no_drivable_lane_module/). | - Lanelet map (no drivable lane) | ![no-drivable-lane](image/features-no-drivable-lane.drawio.svg) | | Collision Detection when deviating from lane | Plan velocity to avoid conflict with other vehicles driving in the another lane when the ego vehicle is deviating from own lane.

Reference implementation is in [Out of Lane Module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_out_of_lane_module/). | - objects information
- Lanelet map (driving lane) | WIP | | Parking | Plan path and velocity for given goal in parking area.

Reference implementation is in [Free Space Planner](https://autowarefoundation.github.io/autoware.universe/main/planning/freespace_planner/). | - objects information
- Lanelet map (parking area) | ![parking](image/features-parking.drawio.svg) | | Autonomous Emergency Braking (AEB) | Perform an emergency stop if a collision with an object ahead is anticipated. It is noted that this function is expected as a final safety layer, and this should work even in the event of failures in the Localization or Perception system.

Reference implementation is in [Out of Lane Module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_out_of_lane_module/). | - Primitive objects | ![aeb](image/features-aeb.drawio.svg) | @@ -168,6 +168,7 @@ For more details, please refer to the design documents in each package. - [_virtual_traffic_light_](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_virtual_traffic_light_module/) - [_occlusion_spot_](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_occlusion_spot_module/) - [_run_out_](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_run_out_module/) + - [_no_drivable_lane_](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_no_drivable_lane_module) - [_obstacle_avoidance_planner_](https://autowarefoundation.github.io/autoware.universe/main/planning/obstacle_avoidance_planner/): calculate path shape under obstacle and drivable area constraints - [_surround_obstacle_checker_](https://autowarefoundation.github.io/autoware.universe/main/planning/surround_obstacle_checker/): keeps the vehicle being stopped when there are obstacles around the ego-vehicle. It works only when the vehicle is stopped. - [_obstacle_stop_planner_](https://autowarefoundation.github.io/autoware.universe/main/planning/obstacle_stop_planner/): When there are obstacles on or near the trajectory, it calculates the maximum velocity of the trajectory points depending on the situation: stopping, slowing down, or adaptive cruise (following the car).