Behavior Velocity Planner

planning/behavior_velocity_planner/autoware_behavior_velocity_planner/README.md

Package Summary

Tags	No category tags.
Version	1.1.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-06-12
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

The autoware_behavior_velocity_planner package

Additional Links

No additional links.

Maintainers

Mamoru Sobue
Takayuki Murooka
Satoshi Ota
Kyoichi Sugahara
Taiki Tanaka
Kosuke Takeuchi
Tomohito Ando
Makoto Kurihara
Maxime Clement
Tomoya Kimura
Shumpei Wakabayashi

Authors

Taiki Tanaka
Mamoru Sobue
Satoshi Ota
Kyoichi Sugahara
Kosuke Takeuchi
Yutaka Shimizu
Tomohito Ando
Yukihiro Saito

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_internal_planning_msgs::msg::PathWithLaneId	path with lane_id
`~input/vector_map`	autoware_map_msgs::msg::LaneletMapBin	vector map
`~input/vehicle_odometry`	nav_msgs::msg::Odometry	vehicle velocity
`~input/dynamic_objects`	autoware_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::TrafficLightGroupArray	traffic light states

Output topics

Name	Type	Description
`~output/path`	autoware_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

Traffic Light Handling in sim/real

The handling of traffic light information varies depending on the usage. In the below table, the traffic signal topic element for the corresponding lane is denoted as info, and if info is not available, it is denoted as null.

module \ case	`info` is `null`	`info` is not `null`
intersection_occlusion(`is_simulation = *`) <ul> <li>`info` is the latest non-`null` information</li></ul>	GO(occlusion is ignored)	intersection_occlusion uses the latest non UNKNOWN observation in the queue up to present.<ul><li>If `info` is `GREEN or UNKNOWN`, occlusion is cared</li><li>If `info` is `RED or YELLOW`, occlusion is ignored(GO) </li> <li> NOTE: Currently timeout is not considered</li> </ul>
traffic_light(sim, `is_simulation = true`) <ul> <li>`info` is current information</li></ul>	GO	traffic_light uses the perceived traffic light information at present directly. <ul><li>If `info` is timeout, STOP whatever the color is</li> <li>If `info` is not timeout, then act according to the color. If `info` is `UNKNOWN`, STOP</li></ul> {: rowspan=2}
traffic_light(real, `is_simulation = false`) <ul> <li>`info` is current information</li></ul>	STOP	&#8288 {: style=”padding:0”}
crosswalk with Traffic Light(`is_simulation = *`) <ul> <li>`info` is current information</li></ul>	default	<ul> <li>If `disable_yield_for_new_stopped_object` is true, each sub scene_module ignore newly detected pedestrians after module instantiation.</li> <li>If `ignore_with_traffic_light` is true, occlusion detection is skipped.</li></ul>
map_based_prediction(`is_simulation = *`) <ul> <li>`info` is current information</li></ul>	default	If a pedestrian traffic light is<ul> <li>RED, surrounding pedestrians are not predicted.</li> <li>GREEN, stopped pedestrians are not predicted.</li></ul>

CHANGELOG

Changelog for package autoware_behavior_velocity_planner

1.1.0 (2025-05-01)

1.0.0 (2025-03-31)

chore: update version in package.xml
feat: port autoware_behavior_velocity_planner from autoware.universe to autoware.core (#230) Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>> Co-authored-by: 心刚 <<90366790+liuXinGangChina@users.noreply.github.com>>
Contributors: Ryohsuke Mitsudome, storrrrrrrrm

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	eigen3_cmake_module
	ament_cmake_ros
	ament_lint_auto
	autoware_lint_common
	autoware_behavior_velocity_planner_common
	autoware_internal_debug_msgs
	autoware_internal_planning_msgs
	autoware_lanelet2_extension
	autoware_map_msgs
	autoware_motion_utils
	autoware_perception_msgs
	autoware_planning_msgs
	autoware_route_handler
	autoware_utils_debug
	autoware_utils_logging
	autoware_utils_pcl
	autoware_utils_rclcpp
	autoware_velocity_smoother
	diagnostic_msgs
	geometry_msgs
	pcl_conversions
	pluginlib
	rclcpp
	rclcpp_components
	sensor_msgs
	tf2
	tf2_eigen
	tf2_geometry_msgs
	tf2_ros
	visualization_msgs

System Dependencies

Name
eigen
libboost-dev

Dependant Packages

Name	Deps
autoware_core_planning
autoware_behavior_velocity_stop_line_module

Launch files

launch/behavior_velocity_planner.launch.xml
- - common_param_path
  - vehicle_param_file
  - nearest_search_param_path
  - behavior_velocity_planner_launch_modules
  - behavior_velocity_config_path
  - behavior_velocity_smoother_type_param_path
  - behavior_velocity_planner_param_path
  - behavior_velocity_planner_common_param_path
  - behavior_velocity_planner_blind_spot_module_param_path
  - behavior_velocity_planner_crosswalk_module_param_path
  - behavior_velocity_planner_walkway_module_param_path
  - behavior_velocity_planner_detection_area_module_param_path
  - behavior_velocity_planner_intersection_module_param_path
  - behavior_velocity_planner_stop_line_module_param_path
  - behavior_velocity_planner_traffic_light_module_param_path
  - behavior_velocity_planner_virtual_traffic_light_module_param_path
  - behavior_velocity_planner_occlusion_spot_module_param_path
  - behavior_velocity_planner_no_stopping_area_module_param_path
  - behavior_velocity_planner_run_out_module_param_path
  - behavior_velocity_planner_speed_bump_module_param_path
  - behavior_velocity_planner_no_drivable_lane_module_param_path

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_behavior_velocity_planner` at Robotics Stack Exchange

No version for distro jazzy showing humble. Known supported distros are highlighted in the buttons above.

autoware_behavior_velocity_planner package from autoware_core repo

autoware_adapi_specs autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

planning/behavior_velocity_planner/autoware_behavior_velocity_planner/README.md

Package Summary

Tags	No category tags.
Version	1.1.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-06-12
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

The autoware_behavior_velocity_planner package

Additional Links

No additional links.

Maintainers

Mamoru Sobue
Takayuki Murooka
Satoshi Ota
Kyoichi Sugahara
Taiki Tanaka
Kosuke Takeuchi
Tomohito Ando
Makoto Kurihara
Maxime Clement
Tomoya Kimura
Shumpei Wakabayashi

Authors

Taiki Tanaka
Mamoru Sobue
Satoshi Ota
Kyoichi Sugahara
Kosuke Takeuchi
Yutaka Shimizu
Tomohito Ando
Yukihiro Saito

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_internal_planning_msgs::msg::PathWithLaneId	path with lane_id
`~input/vector_map`	autoware_map_msgs::msg::LaneletMapBin	vector map
`~input/vehicle_odometry`	nav_msgs::msg::Odometry	vehicle velocity
`~input/dynamic_objects`	autoware_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::TrafficLightGroupArray	traffic light states

Output topics

Name	Type	Description
`~output/path`	autoware_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

Traffic Light Handling in sim/real

The handling of traffic light information varies depending on the usage. In the below table, the traffic signal topic element for the corresponding lane is denoted as info, and if info is not available, it is denoted as null.

module \ case	`info` is `null`	`info` is not `null`
intersection_occlusion(`is_simulation = *`) <ul> <li>`info` is the latest non-`null` information</li></ul>	GO(occlusion is ignored)	intersection_occlusion uses the latest non UNKNOWN observation in the queue up to present.<ul><li>If `info` is `GREEN or UNKNOWN`, occlusion is cared</li><li>If `info` is `RED or YELLOW`, occlusion is ignored(GO) </li> <li> NOTE: Currently timeout is not considered</li> </ul>
traffic_light(sim, `is_simulation = true`) <ul> <li>`info` is current information</li></ul>	GO	traffic_light uses the perceived traffic light information at present directly. <ul><li>If `info` is timeout, STOP whatever the color is</li> <li>If `info` is not timeout, then act according to the color. If `info` is `UNKNOWN`, STOP</li></ul> {: rowspan=2}
traffic_light(real, `is_simulation = false`) <ul> <li>`info` is current information</li></ul>	STOP	&#8288 {: style=”padding:0”}
crosswalk with Traffic Light(`is_simulation = *`) <ul> <li>`info` is current information</li></ul>	default	<ul> <li>If `disable_yield_for_new_stopped_object` is true, each sub scene_module ignore newly detected pedestrians after module instantiation.</li> <li>If `ignore_with_traffic_light` is true, occlusion detection is skipped.</li></ul>
map_based_prediction(`is_simulation = *`) <ul> <li>`info` is current information</li></ul>	default	If a pedestrian traffic light is<ul> <li>RED, surrounding pedestrians are not predicted.</li> <li>GREEN, stopped pedestrians are not predicted.</li></ul>

CHANGELOG

Changelog for package autoware_behavior_velocity_planner

1.1.0 (2025-05-01)

1.0.0 (2025-03-31)

chore: update version in package.xml
feat: port autoware_behavior_velocity_planner from autoware.universe to autoware.core (#230) Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>> Co-authored-by: 心刚 <<90366790+liuXinGangChina@users.noreply.github.com>>
Contributors: Ryohsuke Mitsudome, storrrrrrrrm

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	eigen3_cmake_module
	ament_cmake_ros
	ament_lint_auto
	autoware_lint_common
	autoware_behavior_velocity_planner_common
	autoware_internal_debug_msgs
	autoware_internal_planning_msgs
	autoware_lanelet2_extension
	autoware_map_msgs
	autoware_motion_utils
	autoware_perception_msgs
	autoware_planning_msgs
	autoware_route_handler
	autoware_utils_debug
	autoware_utils_logging
	autoware_utils_pcl
	autoware_utils_rclcpp
	autoware_velocity_smoother
	diagnostic_msgs
	geometry_msgs
	pcl_conversions
	pluginlib
	rclcpp
	rclcpp_components
	sensor_msgs
	tf2
	tf2_eigen
	tf2_geometry_msgs
	tf2_ros
	visualization_msgs

System Dependencies

Name
eigen
libboost-dev

Dependant Packages

Name	Deps
autoware_core_planning
autoware_behavior_velocity_stop_line_module

Launch files

launch/behavior_velocity_planner.launch.xml
- - common_param_path
  - vehicle_param_file
  - nearest_search_param_path
  - behavior_velocity_planner_launch_modules
  - behavior_velocity_config_path
  - behavior_velocity_smoother_type_param_path
  - behavior_velocity_planner_param_path
  - behavior_velocity_planner_common_param_path
  - behavior_velocity_planner_blind_spot_module_param_path
  - behavior_velocity_planner_crosswalk_module_param_path
  - behavior_velocity_planner_walkway_module_param_path
  - behavior_velocity_planner_detection_area_module_param_path
  - behavior_velocity_planner_intersection_module_param_path
  - behavior_velocity_planner_stop_line_module_param_path
  - behavior_velocity_planner_traffic_light_module_param_path
  - behavior_velocity_planner_virtual_traffic_light_module_param_path
  - behavior_velocity_planner_occlusion_spot_module_param_path
  - behavior_velocity_planner_no_stopping_area_module_param_path
  - behavior_velocity_planner_run_out_module_param_path
  - behavior_velocity_planner_speed_bump_module_param_path
  - behavior_velocity_planner_no_drivable_lane_module_param_path

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_behavior_velocity_planner` at Robotics Stack Exchange

No version for distro kilted showing humble. Known supported distros are highlighted in the buttons above.

autoware_behavior_velocity_planner package from autoware_core repo

autoware_adapi_specs autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

planning/behavior_velocity_planner/autoware_behavior_velocity_planner/README.md

Package Summary

Tags	No category tags.
Version	1.1.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-06-12
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

The autoware_behavior_velocity_planner package

Additional Links

No additional links.

Maintainers

Mamoru Sobue
Takayuki Murooka
Satoshi Ota
Kyoichi Sugahara
Taiki Tanaka
Kosuke Takeuchi
Tomohito Ando
Makoto Kurihara
Maxime Clement
Tomoya Kimura
Shumpei Wakabayashi

Authors

Taiki Tanaka
Mamoru Sobue
Satoshi Ota
Kyoichi Sugahara
Kosuke Takeuchi
Yutaka Shimizu
Tomohito Ando
Yukihiro Saito

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_internal_planning_msgs::msg::PathWithLaneId	path with lane_id
`~input/vector_map`	autoware_map_msgs::msg::LaneletMapBin	vector map
`~input/vehicle_odometry`	nav_msgs::msg::Odometry	vehicle velocity
`~input/dynamic_objects`	autoware_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::TrafficLightGroupArray	traffic light states

Output topics

Name	Type	Description
`~output/path`	autoware_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

Traffic Light Handling in sim/real

The handling of traffic light information varies depending on the usage. In the below table, the traffic signal topic element for the corresponding lane is denoted as info, and if info is not available, it is denoted as null.

module \ case	`info` is `null`	`info` is not `null`
intersection_occlusion(`is_simulation = *`) <ul> <li>`info` is the latest non-`null` information</li></ul>	GO(occlusion is ignored)	intersection_occlusion uses the latest non UNKNOWN observation in the queue up to present.<ul><li>If `info` is `GREEN or UNKNOWN`, occlusion is cared</li><li>If `info` is `RED or YELLOW`, occlusion is ignored(GO) </li> <li> NOTE: Currently timeout is not considered</li> </ul>
traffic_light(sim, `is_simulation = true`) <ul> <li>`info` is current information</li></ul>	GO	traffic_light uses the perceived traffic light information at present directly. <ul><li>If `info` is timeout, STOP whatever the color is</li> <li>If `info` is not timeout, then act according to the color. If `info` is `UNKNOWN`, STOP</li></ul> {: rowspan=2}
traffic_light(real, `is_simulation = false`) <ul> <li>`info` is current information</li></ul>	STOP	&#8288 {: style=”padding:0”}
crosswalk with Traffic Light(`is_simulation = *`) <ul> <li>`info` is current information</li></ul>	default	<ul> <li>If `disable_yield_for_new_stopped_object` is true, each sub scene_module ignore newly detected pedestrians after module instantiation.</li> <li>If `ignore_with_traffic_light` is true, occlusion detection is skipped.</li></ul>
map_based_prediction(`is_simulation = *`) <ul> <li>`info` is current information</li></ul>	default	If a pedestrian traffic light is<ul> <li>RED, surrounding pedestrians are not predicted.</li> <li>GREEN, stopped pedestrians are not predicted.</li></ul>

CHANGELOG

Changelog for package autoware_behavior_velocity_planner

1.1.0 (2025-05-01)

1.0.0 (2025-03-31)

chore: update version in package.xml
feat: port autoware_behavior_velocity_planner from autoware.universe to autoware.core (#230) Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>> Co-authored-by: 心刚 <<90366790+liuXinGangChina@users.noreply.github.com>>
Contributors: Ryohsuke Mitsudome, storrrrrrrrm

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	eigen3_cmake_module
	ament_cmake_ros
	ament_lint_auto
	autoware_lint_common
	autoware_behavior_velocity_planner_common
	autoware_internal_debug_msgs
	autoware_internal_planning_msgs
	autoware_lanelet2_extension
	autoware_map_msgs
	autoware_motion_utils
	autoware_perception_msgs
	autoware_planning_msgs
	autoware_route_handler
	autoware_utils_debug
	autoware_utils_logging
	autoware_utils_pcl
	autoware_utils_rclcpp
	autoware_velocity_smoother
	diagnostic_msgs
	geometry_msgs
	pcl_conversions
	pluginlib
	rclcpp
	rclcpp_components
	sensor_msgs
	tf2
	tf2_eigen
	tf2_geometry_msgs
	tf2_ros
	visualization_msgs

System Dependencies

Name
eigen
libboost-dev

Dependant Packages

Name	Deps
autoware_core_planning
autoware_behavior_velocity_stop_line_module

Launch files

launch/behavior_velocity_planner.launch.xml
- - common_param_path
  - vehicle_param_file
  - nearest_search_param_path
  - behavior_velocity_planner_launch_modules
  - behavior_velocity_config_path
  - behavior_velocity_smoother_type_param_path
  - behavior_velocity_planner_param_path
  - behavior_velocity_planner_common_param_path
  - behavior_velocity_planner_blind_spot_module_param_path
  - behavior_velocity_planner_crosswalk_module_param_path
  - behavior_velocity_planner_walkway_module_param_path
  - behavior_velocity_planner_detection_area_module_param_path
  - behavior_velocity_planner_intersection_module_param_path
  - behavior_velocity_planner_stop_line_module_param_path
  - behavior_velocity_planner_traffic_light_module_param_path
  - behavior_velocity_planner_virtual_traffic_light_module_param_path
  - behavior_velocity_planner_occlusion_spot_module_param_path
  - behavior_velocity_planner_no_stopping_area_module_param_path
  - behavior_velocity_planner_run_out_module_param_path
  - behavior_velocity_planner_speed_bump_module_param_path
  - behavior_velocity_planner_no_drivable_lane_module_param_path

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_behavior_velocity_planner` at Robotics Stack Exchange

No version for distro rolling showing humble. Known supported distros are highlighted in the buttons above.

autoware_behavior_velocity_planner package from autoware_core repo

autoware_adapi_specs autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

planning/behavior_velocity_planner/autoware_behavior_velocity_planner/README.md

Package Summary

Tags	No category tags.
Version	1.1.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-06-12
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

The autoware_behavior_velocity_planner package

Additional Links

No additional links.

Maintainers

Mamoru Sobue
Takayuki Murooka
Satoshi Ota
Kyoichi Sugahara
Taiki Tanaka
Kosuke Takeuchi
Tomohito Ando
Makoto Kurihara
Maxime Clement
Tomoya Kimura
Shumpei Wakabayashi

Authors

Taiki Tanaka
Mamoru Sobue
Satoshi Ota
Kyoichi Sugahara
Kosuke Takeuchi
Yutaka Shimizu
Tomohito Ando
Yukihiro Saito

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_internal_planning_msgs::msg::PathWithLaneId	path with lane_id
`~input/vector_map`	autoware_map_msgs::msg::LaneletMapBin	vector map
`~input/vehicle_odometry`	nav_msgs::msg::Odometry	vehicle velocity
`~input/dynamic_objects`	autoware_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::TrafficLightGroupArray	traffic light states

Output topics

Name	Type	Description
`~output/path`	autoware_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

Traffic Light Handling in sim/real

The handling of traffic light information varies depending on the usage. In the below table, the traffic signal topic element for the corresponding lane is denoted as info, and if info is not available, it is denoted as null.

module \ case	`info` is `null`	`info` is not `null`
intersection_occlusion(`is_simulation = *`) <ul> <li>`info` is the latest non-`null` information</li></ul>	GO(occlusion is ignored)	intersection_occlusion uses the latest non UNKNOWN observation in the queue up to present.<ul><li>If `info` is `GREEN or UNKNOWN`, occlusion is cared</li><li>If `info` is `RED or YELLOW`, occlusion is ignored(GO) </li> <li> NOTE: Currently timeout is not considered</li> </ul>
traffic_light(sim, `is_simulation = true`) <ul> <li>`info` is current information</li></ul>	GO	traffic_light uses the perceived traffic light information at present directly. <ul><li>If `info` is timeout, STOP whatever the color is</li> <li>If `info` is not timeout, then act according to the color. If `info` is `UNKNOWN`, STOP</li></ul> {: rowspan=2}
traffic_light(real, `is_simulation = false`) <ul> <li>`info` is current information</li></ul>	STOP	&#8288 {: style=”padding:0”}
crosswalk with Traffic Light(`is_simulation = *`) <ul> <li>`info` is current information</li></ul>	default	<ul> <li>If `disable_yield_for_new_stopped_object` is true, each sub scene_module ignore newly detected pedestrians after module instantiation.</li> <li>If `ignore_with_traffic_light` is true, occlusion detection is skipped.</li></ul>
map_based_prediction(`is_simulation = *`) <ul> <li>`info` is current information</li></ul>	default	If a pedestrian traffic light is<ul> <li>RED, surrounding pedestrians are not predicted.</li> <li>GREEN, stopped pedestrians are not predicted.</li></ul>

CHANGELOG

Changelog for package autoware_behavior_velocity_planner

1.1.0 (2025-05-01)

1.0.0 (2025-03-31)

chore: update version in package.xml
feat: port autoware_behavior_velocity_planner from autoware.universe to autoware.core (#230) Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>> Co-authored-by: 心刚 <<90366790+liuXinGangChina@users.noreply.github.com>>
Contributors: Ryohsuke Mitsudome, storrrrrrrrm

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	eigen3_cmake_module
	ament_cmake_ros
	ament_lint_auto
	autoware_lint_common
	autoware_behavior_velocity_planner_common
	autoware_internal_debug_msgs
	autoware_internal_planning_msgs
	autoware_lanelet2_extension
	autoware_map_msgs
	autoware_motion_utils
	autoware_perception_msgs
	autoware_planning_msgs
	autoware_route_handler
	autoware_utils_debug
	autoware_utils_logging
	autoware_utils_pcl
	autoware_utils_rclcpp
	autoware_velocity_smoother
	diagnostic_msgs
	geometry_msgs
	pcl_conversions
	pluginlib
	rclcpp
	rclcpp_components
	sensor_msgs
	tf2
	tf2_eigen
	tf2_geometry_msgs
	tf2_ros
	visualization_msgs

System Dependencies

Name
eigen
libboost-dev

Dependant Packages

Name	Deps
autoware_core_planning
autoware_behavior_velocity_stop_line_module

Launch files

launch/behavior_velocity_planner.launch.xml
- - common_param_path
  - vehicle_param_file
  - nearest_search_param_path
  - behavior_velocity_planner_launch_modules
  - behavior_velocity_config_path
  - behavior_velocity_smoother_type_param_path
  - behavior_velocity_planner_param_path
  - behavior_velocity_planner_common_param_path
  - behavior_velocity_planner_blind_spot_module_param_path
  - behavior_velocity_planner_crosswalk_module_param_path
  - behavior_velocity_planner_walkway_module_param_path
  - behavior_velocity_planner_detection_area_module_param_path
  - behavior_velocity_planner_intersection_module_param_path
  - behavior_velocity_planner_stop_line_module_param_path
  - behavior_velocity_planner_traffic_light_module_param_path
  - behavior_velocity_planner_virtual_traffic_light_module_param_path
  - behavior_velocity_planner_occlusion_spot_module_param_path
  - behavior_velocity_planner_no_stopping_area_module_param_path
  - behavior_velocity_planner_run_out_module_param_path
  - behavior_velocity_planner_speed_bump_module_param_path
  - behavior_velocity_planner_no_drivable_lane_module_param_path

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_behavior_velocity_planner` at Robotics Stack Exchange

No version for distro ardent showing humble. Known supported distros are highlighted in the buttons above.

autoware_behavior_velocity_planner package from autoware_core repo

autoware_adapi_specs autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

planning/behavior_velocity_planner/autoware_behavior_velocity_planner/README.md

Package Summary

Tags	No category tags.
Version	1.1.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-06-12
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

The autoware_behavior_velocity_planner package

Additional Links

No additional links.

Maintainers

Mamoru Sobue
Takayuki Murooka
Satoshi Ota
Kyoichi Sugahara
Taiki Tanaka
Kosuke Takeuchi
Tomohito Ando
Makoto Kurihara
Maxime Clement
Tomoya Kimura
Shumpei Wakabayashi

Authors

Taiki Tanaka
Mamoru Sobue
Satoshi Ota
Kyoichi Sugahara
Kosuke Takeuchi
Yutaka Shimizu
Tomohito Ando
Yukihiro Saito

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_internal_planning_msgs::msg::PathWithLaneId	path with lane_id
`~input/vector_map`	autoware_map_msgs::msg::LaneletMapBin	vector map
`~input/vehicle_odometry`	nav_msgs::msg::Odometry	vehicle velocity
`~input/dynamic_objects`	autoware_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::TrafficLightGroupArray	traffic light states

Output topics

Name	Type	Description
`~output/path`	autoware_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

Traffic Light Handling in sim/real

The handling of traffic light information varies depending on the usage. In the below table, the traffic signal topic element for the corresponding lane is denoted as info, and if info is not available, it is denoted as null.

module \ case	`info` is `null`	`info` is not `null`
intersection_occlusion(`is_simulation = *`) <ul> <li>`info` is the latest non-`null` information</li></ul>	GO(occlusion is ignored)	intersection_occlusion uses the latest non UNKNOWN observation in the queue up to present.<ul><li>If `info` is `GREEN or UNKNOWN`, occlusion is cared</li><li>If `info` is `RED or YELLOW`, occlusion is ignored(GO) </li> <li> NOTE: Currently timeout is not considered</li> </ul>
traffic_light(sim, `is_simulation = true`) <ul> <li>`info` is current information</li></ul>	GO	traffic_light uses the perceived traffic light information at present directly. <ul><li>If `info` is timeout, STOP whatever the color is</li> <li>If `info` is not timeout, then act according to the color. If `info` is `UNKNOWN`, STOP</li></ul> {: rowspan=2}
traffic_light(real, `is_simulation = false`) <ul> <li>`info` is current information</li></ul>	STOP	&#8288 {: style=”padding:0”}
crosswalk with Traffic Light(`is_simulation = *`) <ul> <li>`info` is current information</li></ul>	default	<ul> <li>If `disable_yield_for_new_stopped_object` is true, each sub scene_module ignore newly detected pedestrians after module instantiation.</li> <li>If `ignore_with_traffic_light` is true, occlusion detection is skipped.</li></ul>
map_based_prediction(`is_simulation = *`) <ul> <li>`info` is current information</li></ul>	default	If a pedestrian traffic light is<ul> <li>RED, surrounding pedestrians are not predicted.</li> <li>GREEN, stopped pedestrians are not predicted.</li></ul>

CHANGELOG

Changelog for package autoware_behavior_velocity_planner

1.1.0 (2025-05-01)

1.0.0 (2025-03-31)

chore: update version in package.xml
feat: port autoware_behavior_velocity_planner from autoware.universe to autoware.core (#230) Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>> Co-authored-by: 心刚 <<90366790+liuXinGangChina@users.noreply.github.com>>
Contributors: Ryohsuke Mitsudome, storrrrrrrrm

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	eigen3_cmake_module
	ament_cmake_ros
	ament_lint_auto
	autoware_lint_common
	autoware_behavior_velocity_planner_common
	autoware_internal_debug_msgs
	autoware_internal_planning_msgs
	autoware_lanelet2_extension
	autoware_map_msgs
	autoware_motion_utils
	autoware_perception_msgs
	autoware_planning_msgs
	autoware_route_handler
	autoware_utils_debug
	autoware_utils_logging
	autoware_utils_pcl
	autoware_utils_rclcpp
	autoware_velocity_smoother
	diagnostic_msgs
	geometry_msgs
	pcl_conversions
	pluginlib
	rclcpp
	rclcpp_components
	sensor_msgs
	tf2
	tf2_eigen
	tf2_geometry_msgs
	tf2_ros
	visualization_msgs

System Dependencies

Name
eigen
libboost-dev

Dependant Packages

Name	Deps
autoware_core_planning
autoware_behavior_velocity_stop_line_module

Launch files

launch/behavior_velocity_planner.launch.xml
- - common_param_path
  - vehicle_param_file
  - nearest_search_param_path
  - behavior_velocity_planner_launch_modules
  - behavior_velocity_config_path
  - behavior_velocity_smoother_type_param_path
  - behavior_velocity_planner_param_path
  - behavior_velocity_planner_common_param_path
  - behavior_velocity_planner_blind_spot_module_param_path
  - behavior_velocity_planner_crosswalk_module_param_path
  - behavior_velocity_planner_walkway_module_param_path
  - behavior_velocity_planner_detection_area_module_param_path
  - behavior_velocity_planner_intersection_module_param_path
  - behavior_velocity_planner_stop_line_module_param_path
  - behavior_velocity_planner_traffic_light_module_param_path
  - behavior_velocity_planner_virtual_traffic_light_module_param_path
  - behavior_velocity_planner_occlusion_spot_module_param_path
  - behavior_velocity_planner_no_stopping_area_module_param_path
  - behavior_velocity_planner_run_out_module_param_path
  - behavior_velocity_planner_speed_bump_module_param_path
  - behavior_velocity_planner_no_drivable_lane_module_param_path

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_behavior_velocity_planner` at Robotics Stack Exchange

No version for distro bouncy showing humble. Known supported distros are highlighted in the buttons above.

autoware_behavior_velocity_planner package from autoware_core repo

autoware_adapi_specs autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

planning/behavior_velocity_planner/autoware_behavior_velocity_planner/README.md

Package Summary

Tags	No category tags.
Version	1.1.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-06-12
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

The autoware_behavior_velocity_planner package

Additional Links

No additional links.

Maintainers

Mamoru Sobue
Takayuki Murooka
Satoshi Ota
Kyoichi Sugahara
Taiki Tanaka
Kosuke Takeuchi
Tomohito Ando
Makoto Kurihara
Maxime Clement
Tomoya Kimura
Shumpei Wakabayashi

Authors

Taiki Tanaka
Mamoru Sobue
Satoshi Ota
Kyoichi Sugahara
Kosuke Takeuchi
Yutaka Shimizu
Tomohito Ando
Yukihiro Saito

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_internal_planning_msgs::msg::PathWithLaneId	path with lane_id
`~input/vector_map`	autoware_map_msgs::msg::LaneletMapBin	vector map
`~input/vehicle_odometry`	nav_msgs::msg::Odometry	vehicle velocity
`~input/dynamic_objects`	autoware_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::TrafficLightGroupArray	traffic light states

Output topics

Name	Type	Description
`~output/path`	autoware_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

Traffic Light Handling in sim/real

The handling of traffic light information varies depending on the usage. In the below table, the traffic signal topic element for the corresponding lane is denoted as info, and if info is not available, it is denoted as null.

module \ case	`info` is `null`	`info` is not `null`
intersection_occlusion(`is_simulation = *`) <ul> <li>`info` is the latest non-`null` information</li></ul>	GO(occlusion is ignored)	intersection_occlusion uses the latest non UNKNOWN observation in the queue up to present.<ul><li>If `info` is `GREEN or UNKNOWN`, occlusion is cared</li><li>If `info` is `RED or YELLOW`, occlusion is ignored(GO) </li> <li> NOTE: Currently timeout is not considered</li> </ul>
traffic_light(sim, `is_simulation = true`) <ul> <li>`info` is current information</li></ul>	GO	traffic_light uses the perceived traffic light information at present directly. <ul><li>If `info` is timeout, STOP whatever the color is</li> <li>If `info` is not timeout, then act according to the color. If `info` is `UNKNOWN`, STOP</li></ul> {: rowspan=2}
traffic_light(real, `is_simulation = false`) <ul> <li>`info` is current information</li></ul>	STOP	&#8288 {: style=”padding:0”}
crosswalk with Traffic Light(`is_simulation = *`) <ul> <li>`info` is current information</li></ul>	default	<ul> <li>If `disable_yield_for_new_stopped_object` is true, each sub scene_module ignore newly detected pedestrians after module instantiation.</li> <li>If `ignore_with_traffic_light` is true, occlusion detection is skipped.</li></ul>
map_based_prediction(`is_simulation = *`) <ul> <li>`info` is current information</li></ul>	default	If a pedestrian traffic light is<ul> <li>RED, surrounding pedestrians are not predicted.</li> <li>GREEN, stopped pedestrians are not predicted.</li></ul>

CHANGELOG

Changelog for package autoware_behavior_velocity_planner

1.1.0 (2025-05-01)

1.0.0 (2025-03-31)

chore: update version in package.xml
feat: port autoware_behavior_velocity_planner from autoware.universe to autoware.core (#230) Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>> Co-authored-by: 心刚 <<90366790+liuXinGangChina@users.noreply.github.com>>
Contributors: Ryohsuke Mitsudome, storrrrrrrrm

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	eigen3_cmake_module
	ament_cmake_ros
	ament_lint_auto
	autoware_lint_common
	autoware_behavior_velocity_planner_common
	autoware_internal_debug_msgs
	autoware_internal_planning_msgs
	autoware_lanelet2_extension
	autoware_map_msgs
	autoware_motion_utils
	autoware_perception_msgs
	autoware_planning_msgs
	autoware_route_handler
	autoware_utils_debug
	autoware_utils_logging
	autoware_utils_pcl
	autoware_utils_rclcpp
	autoware_velocity_smoother
	diagnostic_msgs
	geometry_msgs
	pcl_conversions
	pluginlib
	rclcpp
	rclcpp_components
	sensor_msgs
	tf2
	tf2_eigen
	tf2_geometry_msgs
	tf2_ros
	visualization_msgs

System Dependencies

Name
eigen
libboost-dev

Dependant Packages

Name	Deps
autoware_core_planning
autoware_behavior_velocity_stop_line_module

Launch files

launch/behavior_velocity_planner.launch.xml
- - common_param_path
  - vehicle_param_file
  - nearest_search_param_path
  - behavior_velocity_planner_launch_modules
  - behavior_velocity_config_path
  - behavior_velocity_smoother_type_param_path
  - behavior_velocity_planner_param_path
  - behavior_velocity_planner_common_param_path
  - behavior_velocity_planner_blind_spot_module_param_path
  - behavior_velocity_planner_crosswalk_module_param_path
  - behavior_velocity_planner_walkway_module_param_path
  - behavior_velocity_planner_detection_area_module_param_path
  - behavior_velocity_planner_intersection_module_param_path
  - behavior_velocity_planner_stop_line_module_param_path
  - behavior_velocity_planner_traffic_light_module_param_path
  - behavior_velocity_planner_virtual_traffic_light_module_param_path
  - behavior_velocity_planner_occlusion_spot_module_param_path
  - behavior_velocity_planner_no_stopping_area_module_param_path
  - behavior_velocity_planner_run_out_module_param_path
  - behavior_velocity_planner_speed_bump_module_param_path
  - behavior_velocity_planner_no_drivable_lane_module_param_path

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_behavior_velocity_planner` at Robotics Stack Exchange

No version for distro crystal showing humble. Known supported distros are highlighted in the buttons above.

autoware_behavior_velocity_planner package from autoware_core repo

autoware_adapi_specs autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

planning/behavior_velocity_planner/autoware_behavior_velocity_planner/README.md

Package Summary

Tags	No category tags.
Version	1.1.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-06-12
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

The autoware_behavior_velocity_planner package

Additional Links

No additional links.

Maintainers

Mamoru Sobue
Takayuki Murooka
Satoshi Ota
Kyoichi Sugahara
Taiki Tanaka
Kosuke Takeuchi
Tomohito Ando
Makoto Kurihara
Maxime Clement
Tomoya Kimura
Shumpei Wakabayashi

Authors

Taiki Tanaka
Mamoru Sobue
Satoshi Ota
Kyoichi Sugahara
Kosuke Takeuchi
Yutaka Shimizu
Tomohito Ando
Yukihiro Saito

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_internal_planning_msgs::msg::PathWithLaneId	path with lane_id
`~input/vector_map`	autoware_map_msgs::msg::LaneletMapBin	vector map
`~input/vehicle_odometry`	nav_msgs::msg::Odometry	vehicle velocity
`~input/dynamic_objects`	autoware_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::TrafficLightGroupArray	traffic light states

Output topics

Name	Type	Description
`~output/path`	autoware_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

Traffic Light Handling in sim/real

The handling of traffic light information varies depending on the usage. In the below table, the traffic signal topic element for the corresponding lane is denoted as info, and if info is not available, it is denoted as null.

module \ case	`info` is `null`	`info` is not `null`
intersection_occlusion(`is_simulation = *`) <ul> <li>`info` is the latest non-`null` information</li></ul>	GO(occlusion is ignored)	intersection_occlusion uses the latest non UNKNOWN observation in the queue up to present.<ul><li>If `info` is `GREEN or UNKNOWN`, occlusion is cared</li><li>If `info` is `RED or YELLOW`, occlusion is ignored(GO) </li> <li> NOTE: Currently timeout is not considered</li> </ul>
traffic_light(sim, `is_simulation = true`) <ul> <li>`info` is current information</li></ul>	GO	traffic_light uses the perceived traffic light information at present directly. <ul><li>If `info` is timeout, STOP whatever the color is</li> <li>If `info` is not timeout, then act according to the color. If `info` is `UNKNOWN`, STOP</li></ul> {: rowspan=2}
traffic_light(real, `is_simulation = false`) <ul> <li>`info` is current information</li></ul>	STOP	&#8288 {: style=”padding:0”}
crosswalk with Traffic Light(`is_simulation = *`) <ul> <li>`info` is current information</li></ul>	default	<ul> <li>If `disable_yield_for_new_stopped_object` is true, each sub scene_module ignore newly detected pedestrians after module instantiation.</li> <li>If `ignore_with_traffic_light` is true, occlusion detection is skipped.</li></ul>
map_based_prediction(`is_simulation = *`) <ul> <li>`info` is current information</li></ul>	default	If a pedestrian traffic light is<ul> <li>RED, surrounding pedestrians are not predicted.</li> <li>GREEN, stopped pedestrians are not predicted.</li></ul>

CHANGELOG

Changelog for package autoware_behavior_velocity_planner

1.1.0 (2025-05-01)

1.0.0 (2025-03-31)

chore: update version in package.xml
feat: port autoware_behavior_velocity_planner from autoware.universe to autoware.core (#230) Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>> Co-authored-by: 心刚 <<90366790+liuXinGangChina@users.noreply.github.com>>
Contributors: Ryohsuke Mitsudome, storrrrrrrrm

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	eigen3_cmake_module
	ament_cmake_ros
	ament_lint_auto
	autoware_lint_common
	autoware_behavior_velocity_planner_common
	autoware_internal_debug_msgs
	autoware_internal_planning_msgs
	autoware_lanelet2_extension
	autoware_map_msgs
	autoware_motion_utils
	autoware_perception_msgs
	autoware_planning_msgs
	autoware_route_handler
	autoware_utils_debug
	autoware_utils_logging
	autoware_utils_pcl
	autoware_utils_rclcpp
	autoware_velocity_smoother
	diagnostic_msgs
	geometry_msgs
	pcl_conversions
	pluginlib
	rclcpp
	rclcpp_components
	sensor_msgs
	tf2
	tf2_eigen
	tf2_geometry_msgs
	tf2_ros
	visualization_msgs

System Dependencies

Name
eigen
libboost-dev

Dependant Packages

Name	Deps
autoware_core_planning
autoware_behavior_velocity_stop_line_module

Launch files

launch/behavior_velocity_planner.launch.xml
- - common_param_path
  - vehicle_param_file
  - nearest_search_param_path
  - behavior_velocity_planner_launch_modules
  - behavior_velocity_config_path
  - behavior_velocity_smoother_type_param_path
  - behavior_velocity_planner_param_path
  - behavior_velocity_planner_common_param_path
  - behavior_velocity_planner_blind_spot_module_param_path
  - behavior_velocity_planner_crosswalk_module_param_path
  - behavior_velocity_planner_walkway_module_param_path
  - behavior_velocity_planner_detection_area_module_param_path
  - behavior_velocity_planner_intersection_module_param_path
  - behavior_velocity_planner_stop_line_module_param_path
  - behavior_velocity_planner_traffic_light_module_param_path
  - behavior_velocity_planner_virtual_traffic_light_module_param_path
  - behavior_velocity_planner_occlusion_spot_module_param_path
  - behavior_velocity_planner_no_stopping_area_module_param_path
  - behavior_velocity_planner_run_out_module_param_path
  - behavior_velocity_planner_speed_bump_module_param_path
  - behavior_velocity_planner_no_drivable_lane_module_param_path

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_behavior_velocity_planner` at Robotics Stack Exchange

No version for distro eloquent showing humble. Known supported distros are highlighted in the buttons above.

autoware_behavior_velocity_planner package from autoware_core repo

autoware_adapi_specs autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

planning/behavior_velocity_planner/autoware_behavior_velocity_planner/README.md

Package Summary

Tags	No category tags.
Version	1.1.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-06-12
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

The autoware_behavior_velocity_planner package

Additional Links

No additional links.

Maintainers

Mamoru Sobue
Takayuki Murooka
Satoshi Ota
Kyoichi Sugahara
Taiki Tanaka
Kosuke Takeuchi
Tomohito Ando
Makoto Kurihara
Maxime Clement
Tomoya Kimura
Shumpei Wakabayashi

Authors

Taiki Tanaka
Mamoru Sobue
Satoshi Ota
Kyoichi Sugahara
Kosuke Takeuchi
Yutaka Shimizu
Tomohito Ando
Yukihiro Saito

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_internal_planning_msgs::msg::PathWithLaneId	path with lane_id
`~input/vector_map`	autoware_map_msgs::msg::LaneletMapBin	vector map
`~input/vehicle_odometry`	nav_msgs::msg::Odometry	vehicle velocity
`~input/dynamic_objects`	autoware_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::TrafficLightGroupArray	traffic light states

Output topics

Name	Type	Description
`~output/path`	autoware_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

Traffic Light Handling in sim/real

The handling of traffic light information varies depending on the usage. In the below table, the traffic signal topic element for the corresponding lane is denoted as info, and if info is not available, it is denoted as null.

module \ case	`info` is `null`	`info` is not `null`
intersection_occlusion(`is_simulation = *`) <ul> <li>`info` is the latest non-`null` information</li></ul>	GO(occlusion is ignored)	intersection_occlusion uses the latest non UNKNOWN observation in the queue up to present.<ul><li>If `info` is `GREEN or UNKNOWN`, occlusion is cared</li><li>If `info` is `RED or YELLOW`, occlusion is ignored(GO) </li> <li> NOTE: Currently timeout is not considered</li> </ul>
traffic_light(sim, `is_simulation = true`) <ul> <li>`info` is current information</li></ul>	GO	traffic_light uses the perceived traffic light information at present directly. <ul><li>If `info` is timeout, STOP whatever the color is</li> <li>If `info` is not timeout, then act according to the color. If `info` is `UNKNOWN`, STOP</li></ul> {: rowspan=2}
traffic_light(real, `is_simulation = false`) <ul> <li>`info` is current information</li></ul>	STOP	&#8288 {: style=”padding:0”}
crosswalk with Traffic Light(`is_simulation = *`) <ul> <li>`info` is current information</li></ul>	default	<ul> <li>If `disable_yield_for_new_stopped_object` is true, each sub scene_module ignore newly detected pedestrians after module instantiation.</li> <li>If `ignore_with_traffic_light` is true, occlusion detection is skipped.</li></ul>
map_based_prediction(`is_simulation = *`) <ul> <li>`info` is current information</li></ul>	default	If a pedestrian traffic light is<ul> <li>RED, surrounding pedestrians are not predicted.</li> <li>GREEN, stopped pedestrians are not predicted.</li></ul>

CHANGELOG

Changelog for package autoware_behavior_velocity_planner

1.1.0 (2025-05-01)

1.0.0 (2025-03-31)

chore: update version in package.xml
feat: port autoware_behavior_velocity_planner from autoware.universe to autoware.core (#230) Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>> Co-authored-by: 心刚 <<90366790+liuXinGangChina@users.noreply.github.com>>
Contributors: Ryohsuke Mitsudome, storrrrrrrrm

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	eigen3_cmake_module
	ament_cmake_ros
	ament_lint_auto
	autoware_lint_common
	autoware_behavior_velocity_planner_common
	autoware_internal_debug_msgs
	autoware_internal_planning_msgs
	autoware_lanelet2_extension
	autoware_map_msgs
	autoware_motion_utils
	autoware_perception_msgs
	autoware_planning_msgs
	autoware_route_handler
	autoware_utils_debug
	autoware_utils_logging
	autoware_utils_pcl
	autoware_utils_rclcpp
	autoware_velocity_smoother
	diagnostic_msgs
	geometry_msgs
	pcl_conversions
	pluginlib
	rclcpp
	rclcpp_components
	sensor_msgs
	tf2
	tf2_eigen
	tf2_geometry_msgs
	tf2_ros
	visualization_msgs

System Dependencies

Name
eigen
libboost-dev

Dependant Packages

Name	Deps
autoware_core_planning
autoware_behavior_velocity_stop_line_module

Launch files

launch/behavior_velocity_planner.launch.xml
- - common_param_path
  - vehicle_param_file
  - nearest_search_param_path
  - behavior_velocity_planner_launch_modules
  - behavior_velocity_config_path
  - behavior_velocity_smoother_type_param_path
  - behavior_velocity_planner_param_path
  - behavior_velocity_planner_common_param_path
  - behavior_velocity_planner_blind_spot_module_param_path
  - behavior_velocity_planner_crosswalk_module_param_path
  - behavior_velocity_planner_walkway_module_param_path
  - behavior_velocity_planner_detection_area_module_param_path
  - behavior_velocity_planner_intersection_module_param_path
  - behavior_velocity_planner_stop_line_module_param_path
  - behavior_velocity_planner_traffic_light_module_param_path
  - behavior_velocity_planner_virtual_traffic_light_module_param_path
  - behavior_velocity_planner_occlusion_spot_module_param_path
  - behavior_velocity_planner_no_stopping_area_module_param_path
  - behavior_velocity_planner_run_out_module_param_path
  - behavior_velocity_planner_speed_bump_module_param_path
  - behavior_velocity_planner_no_drivable_lane_module_param_path

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_behavior_velocity_planner` at Robotics Stack Exchange

No version for distro dashing showing humble. Known supported distros are highlighted in the buttons above.

autoware_behavior_velocity_planner package from autoware_core repo

autoware_adapi_specs autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

planning/behavior_velocity_planner/autoware_behavior_velocity_planner/README.md

Package Summary

Tags	No category tags.
Version	1.1.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-06-12
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

The autoware_behavior_velocity_planner package

Additional Links

No additional links.

Maintainers

Mamoru Sobue
Takayuki Murooka
Satoshi Ota
Kyoichi Sugahara
Taiki Tanaka
Kosuke Takeuchi
Tomohito Ando
Makoto Kurihara
Maxime Clement
Tomoya Kimura
Shumpei Wakabayashi

Authors

Taiki Tanaka
Mamoru Sobue
Satoshi Ota
Kyoichi Sugahara
Kosuke Takeuchi
Yutaka Shimizu
Tomohito Ando
Yukihiro Saito

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_internal_planning_msgs::msg::PathWithLaneId	path with lane_id
`~input/vector_map`	autoware_map_msgs::msg::LaneletMapBin	vector map
`~input/vehicle_odometry`	nav_msgs::msg::Odometry	vehicle velocity
`~input/dynamic_objects`	autoware_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::TrafficLightGroupArray	traffic light states

Output topics

Name	Type	Description
`~output/path`	autoware_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

Traffic Light Handling in sim/real

The handling of traffic light information varies depending on the usage. In the below table, the traffic signal topic element for the corresponding lane is denoted as info, and if info is not available, it is denoted as null.

module \ case	`info` is `null`	`info` is not `null`
intersection_occlusion(`is_simulation = *`) <ul> <li>`info` is the latest non-`null` information</li></ul>	GO(occlusion is ignored)	intersection_occlusion uses the latest non UNKNOWN observation in the queue up to present.<ul><li>If `info` is `GREEN or UNKNOWN`, occlusion is cared</li><li>If `info` is `RED or YELLOW`, occlusion is ignored(GO) </li> <li> NOTE: Currently timeout is not considered</li> </ul>
traffic_light(sim, `is_simulation = true`) <ul> <li>`info` is current information</li></ul>	GO	traffic_light uses the perceived traffic light information at present directly. <ul><li>If `info` is timeout, STOP whatever the color is</li> <li>If `info` is not timeout, then act according to the color. If `info` is `UNKNOWN`, STOP</li></ul> {: rowspan=2}
traffic_light(real, `is_simulation = false`) <ul> <li>`info` is current information</li></ul>	STOP	&#8288 {: style=”padding:0”}
crosswalk with Traffic Light(`is_simulation = *`) <ul> <li>`info` is current information</li></ul>	default	<ul> <li>If `disable_yield_for_new_stopped_object` is true, each sub scene_module ignore newly detected pedestrians after module instantiation.</li> <li>If `ignore_with_traffic_light` is true, occlusion detection is skipped.</li></ul>
map_based_prediction(`is_simulation = *`) <ul> <li>`info` is current information</li></ul>	default	If a pedestrian traffic light is<ul> <li>RED, surrounding pedestrians are not predicted.</li> <li>GREEN, stopped pedestrians are not predicted.</li></ul>

CHANGELOG

Changelog for package autoware_behavior_velocity_planner

1.1.0 (2025-05-01)

1.0.0 (2025-03-31)

chore: update version in package.xml
feat: port autoware_behavior_velocity_planner from autoware.universe to autoware.core (#230) Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>> Co-authored-by: 心刚 <<90366790+liuXinGangChina@users.noreply.github.com>>
Contributors: Ryohsuke Mitsudome, storrrrrrrrm

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	eigen3_cmake_module
	ament_cmake_ros
	ament_lint_auto
	autoware_lint_common
	autoware_behavior_velocity_planner_common
	autoware_internal_debug_msgs
	autoware_internal_planning_msgs
	autoware_lanelet2_extension
	autoware_map_msgs
	autoware_motion_utils
	autoware_perception_msgs
	autoware_planning_msgs
	autoware_route_handler
	autoware_utils_debug
	autoware_utils_logging
	autoware_utils_pcl
	autoware_utils_rclcpp
	autoware_velocity_smoother
	diagnostic_msgs
	geometry_msgs
	pcl_conversions
	pluginlib
	rclcpp
	rclcpp_components
	sensor_msgs
	tf2
	tf2_eigen
	tf2_geometry_msgs
	tf2_ros
	visualization_msgs

System Dependencies

Name
eigen
libboost-dev

Dependant Packages

Name	Deps
autoware_core_planning
autoware_behavior_velocity_stop_line_module

Launch files

launch/behavior_velocity_planner.launch.xml
- - common_param_path
  - vehicle_param_file
  - nearest_search_param_path
  - behavior_velocity_planner_launch_modules
  - behavior_velocity_config_path
  - behavior_velocity_smoother_type_param_path
  - behavior_velocity_planner_param_path
  - behavior_velocity_planner_common_param_path
  - behavior_velocity_planner_blind_spot_module_param_path
  - behavior_velocity_planner_crosswalk_module_param_path
  - behavior_velocity_planner_walkway_module_param_path
  - behavior_velocity_planner_detection_area_module_param_path
  - behavior_velocity_planner_intersection_module_param_path
  - behavior_velocity_planner_stop_line_module_param_path
  - behavior_velocity_planner_traffic_light_module_param_path
  - behavior_velocity_planner_virtual_traffic_light_module_param_path
  - behavior_velocity_planner_occlusion_spot_module_param_path
  - behavior_velocity_planner_no_stopping_area_module_param_path
  - behavior_velocity_planner_run_out_module_param_path
  - behavior_velocity_planner_speed_bump_module_param_path
  - behavior_velocity_planner_no_drivable_lane_module_param_path

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_behavior_velocity_planner` at Robotics Stack Exchange

No version for distro galactic showing humble. Known supported distros are highlighted in the buttons above.

autoware_behavior_velocity_planner package from autoware_core repo

autoware_adapi_specs autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

planning/behavior_velocity_planner/autoware_behavior_velocity_planner/README.md

Package Summary

Tags	No category tags.
Version	1.1.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-06-12
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

The autoware_behavior_velocity_planner package

Additional Links

No additional links.

Maintainers

Mamoru Sobue
Takayuki Murooka
Satoshi Ota
Kyoichi Sugahara
Taiki Tanaka
Kosuke Takeuchi
Tomohito Ando
Makoto Kurihara
Maxime Clement
Tomoya Kimura
Shumpei Wakabayashi

Authors

Taiki Tanaka
Mamoru Sobue
Satoshi Ota
Kyoichi Sugahara
Kosuke Takeuchi
Yutaka Shimizu
Tomohito Ando
Yukihiro Saito

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_internal_planning_msgs::msg::PathWithLaneId	path with lane_id
`~input/vector_map`	autoware_map_msgs::msg::LaneletMapBin	vector map
`~input/vehicle_odometry`	nav_msgs::msg::Odometry	vehicle velocity
`~input/dynamic_objects`	autoware_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::TrafficLightGroupArray	traffic light states

Output topics

Name	Type	Description
`~output/path`	autoware_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

Traffic Light Handling in sim/real

The handling of traffic light information varies depending on the usage. In the below table, the traffic signal topic element for the corresponding lane is denoted as info, and if info is not available, it is denoted as null.

module \ case	`info` is `null`	`info` is not `null`
intersection_occlusion(`is_simulation = *`) <ul> <li>`info` is the latest non-`null` information</li></ul>	GO(occlusion is ignored)	intersection_occlusion uses the latest non UNKNOWN observation in the queue up to present.<ul><li>If `info` is `GREEN or UNKNOWN`, occlusion is cared</li><li>If `info` is `RED or YELLOW`, occlusion is ignored(GO) </li> <li> NOTE: Currently timeout is not considered</li> </ul>
traffic_light(sim, `is_simulation = true`) <ul> <li>`info` is current information</li></ul>	GO	traffic_light uses the perceived traffic light information at present directly. <ul><li>If `info` is timeout, STOP whatever the color is</li> <li>If `info` is not timeout, then act according to the color. If `info` is `UNKNOWN`, STOP</li></ul> {: rowspan=2}
traffic_light(real, `is_simulation = false`) <ul> <li>`info` is current information</li></ul>	STOP	&#8288 {: style=”padding:0”}
crosswalk with Traffic Light(`is_simulation = *`) <ul> <li>`info` is current information</li></ul>	default	<ul> <li>If `disable_yield_for_new_stopped_object` is true, each sub scene_module ignore newly detected pedestrians after module instantiation.</li> <li>If `ignore_with_traffic_light` is true, occlusion detection is skipped.</li></ul>
map_based_prediction(`is_simulation = *`) <ul> <li>`info` is current information</li></ul>	default	If a pedestrian traffic light is<ul> <li>RED, surrounding pedestrians are not predicted.</li> <li>GREEN, stopped pedestrians are not predicted.</li></ul>

CHANGELOG

Changelog for package autoware_behavior_velocity_planner

1.1.0 (2025-05-01)

1.0.0 (2025-03-31)

chore: update version in package.xml
feat: port autoware_behavior_velocity_planner from autoware.universe to autoware.core (#230) Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>> Co-authored-by: 心刚 <<90366790+liuXinGangChina@users.noreply.github.com>>
Contributors: Ryohsuke Mitsudome, storrrrrrrrm

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	eigen3_cmake_module
	ament_cmake_ros
	ament_lint_auto
	autoware_lint_common
	autoware_behavior_velocity_planner_common
	autoware_internal_debug_msgs
	autoware_internal_planning_msgs
	autoware_lanelet2_extension
	autoware_map_msgs
	autoware_motion_utils
	autoware_perception_msgs
	autoware_planning_msgs
	autoware_route_handler
	autoware_utils_debug
	autoware_utils_logging
	autoware_utils_pcl
	autoware_utils_rclcpp
	autoware_velocity_smoother
	diagnostic_msgs
	geometry_msgs
	pcl_conversions
	pluginlib
	rclcpp
	rclcpp_components
	sensor_msgs
	tf2
	tf2_eigen
	tf2_geometry_msgs
	tf2_ros
	visualization_msgs

System Dependencies

Name
eigen
libboost-dev

Dependant Packages

Name	Deps
autoware_core_planning
autoware_behavior_velocity_stop_line_module

Launch files

launch/behavior_velocity_planner.launch.xml
- - common_param_path
  - vehicle_param_file
  - nearest_search_param_path
  - behavior_velocity_planner_launch_modules
  - behavior_velocity_config_path
  - behavior_velocity_smoother_type_param_path
  - behavior_velocity_planner_param_path
  - behavior_velocity_planner_common_param_path
  - behavior_velocity_planner_blind_spot_module_param_path
  - behavior_velocity_planner_crosswalk_module_param_path
  - behavior_velocity_planner_walkway_module_param_path
  - behavior_velocity_planner_detection_area_module_param_path
  - behavior_velocity_planner_intersection_module_param_path
  - behavior_velocity_planner_stop_line_module_param_path
  - behavior_velocity_planner_traffic_light_module_param_path
  - behavior_velocity_planner_virtual_traffic_light_module_param_path
  - behavior_velocity_planner_occlusion_spot_module_param_path
  - behavior_velocity_planner_no_stopping_area_module_param_path
  - behavior_velocity_planner_run_out_module_param_path
  - behavior_velocity_planner_speed_bump_module_param_path
  - behavior_velocity_planner_no_drivable_lane_module_param_path

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_behavior_velocity_planner` at Robotics Stack Exchange

No version for distro foxy showing humble. Known supported distros are highlighted in the buttons above.

autoware_behavior_velocity_planner package from autoware_core repo

autoware_adapi_specs autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

planning/behavior_velocity_planner/autoware_behavior_velocity_planner/README.md

Package Summary

Tags	No category tags.
Version	1.1.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-06-12
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

The autoware_behavior_velocity_planner package

Additional Links

No additional links.

Maintainers

Mamoru Sobue
Takayuki Murooka
Satoshi Ota
Kyoichi Sugahara
Taiki Tanaka
Kosuke Takeuchi
Tomohito Ando
Makoto Kurihara
Maxime Clement
Tomoya Kimura
Shumpei Wakabayashi

Authors

Taiki Tanaka
Mamoru Sobue
Satoshi Ota
Kyoichi Sugahara
Kosuke Takeuchi
Yutaka Shimizu
Tomohito Ando
Yukihiro Saito

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_internal_planning_msgs::msg::PathWithLaneId	path with lane_id
`~input/vector_map`	autoware_map_msgs::msg::LaneletMapBin	vector map
`~input/vehicle_odometry`	nav_msgs::msg::Odometry	vehicle velocity
`~input/dynamic_objects`	autoware_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::TrafficLightGroupArray	traffic light states

Output topics

Name	Type	Description
`~output/path`	autoware_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

Traffic Light Handling in sim/real

The handling of traffic light information varies depending on the usage. In the below table, the traffic signal topic element for the corresponding lane is denoted as info, and if info is not available, it is denoted as null.

module \ case	`info` is `null`	`info` is not `null`
intersection_occlusion(`is_simulation = *`) <ul> <li>`info` is the latest non-`null` information</li></ul>	GO(occlusion is ignored)	intersection_occlusion uses the latest non UNKNOWN observation in the queue up to present.<ul><li>If `info` is `GREEN or UNKNOWN`, occlusion is cared</li><li>If `info` is `RED or YELLOW`, occlusion is ignored(GO) </li> <li> NOTE: Currently timeout is not considered</li> </ul>
traffic_light(sim, `is_simulation = true`) <ul> <li>`info` is current information</li></ul>	GO	traffic_light uses the perceived traffic light information at present directly. <ul><li>If `info` is timeout, STOP whatever the color is</li> <li>If `info` is not timeout, then act according to the color. If `info` is `UNKNOWN`, STOP</li></ul> {: rowspan=2}
traffic_light(real, `is_simulation = false`) <ul> <li>`info` is current information</li></ul>	STOP	&#8288 {: style=”padding:0”}
crosswalk with Traffic Light(`is_simulation = *`) <ul> <li>`info` is current information</li></ul>	default	<ul> <li>If `disable_yield_for_new_stopped_object` is true, each sub scene_module ignore newly detected pedestrians after module instantiation.</li> <li>If `ignore_with_traffic_light` is true, occlusion detection is skipped.</li></ul>
map_based_prediction(`is_simulation = *`) <ul> <li>`info` is current information</li></ul>	default	If a pedestrian traffic light is<ul> <li>RED, surrounding pedestrians are not predicted.</li> <li>GREEN, stopped pedestrians are not predicted.</li></ul>

CHANGELOG

Changelog for package autoware_behavior_velocity_planner

1.1.0 (2025-05-01)

1.0.0 (2025-03-31)

chore: update version in package.xml
feat: port autoware_behavior_velocity_planner from autoware.universe to autoware.core (#230) Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>> Co-authored-by: 心刚 <<90366790+liuXinGangChina@users.noreply.github.com>>
Contributors: Ryohsuke Mitsudome, storrrrrrrrm

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	eigen3_cmake_module
	ament_cmake_ros
	ament_lint_auto
	autoware_lint_common
	autoware_behavior_velocity_planner_common
	autoware_internal_debug_msgs
	autoware_internal_planning_msgs
	autoware_lanelet2_extension
	autoware_map_msgs
	autoware_motion_utils
	autoware_perception_msgs
	autoware_planning_msgs
	autoware_route_handler
	autoware_utils_debug
	autoware_utils_logging
	autoware_utils_pcl
	autoware_utils_rclcpp
	autoware_velocity_smoother
	diagnostic_msgs
	geometry_msgs
	pcl_conversions
	pluginlib
	rclcpp
	rclcpp_components
	sensor_msgs
	tf2
	tf2_eigen
	tf2_geometry_msgs
	tf2_ros
	visualization_msgs

System Dependencies

Name
eigen
libboost-dev

Dependant Packages

Name	Deps
autoware_core_planning
autoware_behavior_velocity_stop_line_module

Launch files

launch/behavior_velocity_planner.launch.xml
- - common_param_path
  - vehicle_param_file
  - nearest_search_param_path
  - behavior_velocity_planner_launch_modules
  - behavior_velocity_config_path
  - behavior_velocity_smoother_type_param_path
  - behavior_velocity_planner_param_path
  - behavior_velocity_planner_common_param_path
  - behavior_velocity_planner_blind_spot_module_param_path
  - behavior_velocity_planner_crosswalk_module_param_path
  - behavior_velocity_planner_walkway_module_param_path
  - behavior_velocity_planner_detection_area_module_param_path
  - behavior_velocity_planner_intersection_module_param_path
  - behavior_velocity_planner_stop_line_module_param_path
  - behavior_velocity_planner_traffic_light_module_param_path
  - behavior_velocity_planner_virtual_traffic_light_module_param_path
  - behavior_velocity_planner_occlusion_spot_module_param_path
  - behavior_velocity_planner_no_stopping_area_module_param_path
  - behavior_velocity_planner_run_out_module_param_path
  - behavior_velocity_planner_speed_bump_module_param_path
  - behavior_velocity_planner_no_drivable_lane_module_param_path

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_behavior_velocity_planner` at Robotics Stack Exchange

No version for distro iron showing humble. Known supported distros are highlighted in the buttons above.

autoware_behavior_velocity_planner package from autoware_core repo

autoware_adapi_specs autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

planning/behavior_velocity_planner/autoware_behavior_velocity_planner/README.md

Package Summary

Tags	No category tags.
Version	1.1.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-06-12
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

The autoware_behavior_velocity_planner package

Additional Links

No additional links.

Maintainers

Mamoru Sobue
Takayuki Murooka
Satoshi Ota
Kyoichi Sugahara
Taiki Tanaka
Kosuke Takeuchi
Tomohito Ando
Makoto Kurihara
Maxime Clement
Tomoya Kimura
Shumpei Wakabayashi

Authors

Taiki Tanaka
Mamoru Sobue
Satoshi Ota
Kyoichi Sugahara
Kosuke Takeuchi
Yutaka Shimizu
Tomohito Ando
Yukihiro Saito

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_internal_planning_msgs::msg::PathWithLaneId	path with lane_id
`~input/vector_map`	autoware_map_msgs::msg::LaneletMapBin	vector map
`~input/vehicle_odometry`	nav_msgs::msg::Odometry	vehicle velocity
`~input/dynamic_objects`	autoware_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::TrafficLightGroupArray	traffic light states

Output topics

Name	Type	Description
`~output/path`	autoware_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

Traffic Light Handling in sim/real

The handling of traffic light information varies depending on the usage. In the below table, the traffic signal topic element for the corresponding lane is denoted as info, and if info is not available, it is denoted as null.

module \ case	`info` is `null`	`info` is not `null`
intersection_occlusion(`is_simulation = *`) <ul> <li>`info` is the latest non-`null` information</li></ul>	GO(occlusion is ignored)	intersection_occlusion uses the latest non UNKNOWN observation in the queue up to present.<ul><li>If `info` is `GREEN or UNKNOWN`, occlusion is cared</li><li>If `info` is `RED or YELLOW`, occlusion is ignored(GO) </li> <li> NOTE: Currently timeout is not considered</li> </ul>
traffic_light(sim, `is_simulation = true`) <ul> <li>`info` is current information</li></ul>	GO	traffic_light uses the perceived traffic light information at present directly. <ul><li>If `info` is timeout, STOP whatever the color is</li> <li>If `info` is not timeout, then act according to the color. If `info` is `UNKNOWN`, STOP</li></ul> {: rowspan=2}
traffic_light(real, `is_simulation = false`) <ul> <li>`info` is current information</li></ul>	STOP	&#8288 {: style=”padding:0”}
crosswalk with Traffic Light(`is_simulation = *`) <ul> <li>`info` is current information</li></ul>	default	<ul> <li>If `disable_yield_for_new_stopped_object` is true, each sub scene_module ignore newly detected pedestrians after module instantiation.</li> <li>If `ignore_with_traffic_light` is true, occlusion detection is skipped.</li></ul>
map_based_prediction(`is_simulation = *`) <ul> <li>`info` is current information</li></ul>	default	If a pedestrian traffic light is<ul> <li>RED, surrounding pedestrians are not predicted.</li> <li>GREEN, stopped pedestrians are not predicted.</li></ul>

CHANGELOG

Changelog for package autoware_behavior_velocity_planner

1.1.0 (2025-05-01)

1.0.0 (2025-03-31)

chore: update version in package.xml
feat: port autoware_behavior_velocity_planner from autoware.universe to autoware.core (#230) Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>> Co-authored-by: 心刚 <<90366790+liuXinGangChina@users.noreply.github.com>>
Contributors: Ryohsuke Mitsudome, storrrrrrrrm

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	eigen3_cmake_module
	ament_cmake_ros
	ament_lint_auto
	autoware_lint_common
	autoware_behavior_velocity_planner_common
	autoware_internal_debug_msgs
	autoware_internal_planning_msgs
	autoware_lanelet2_extension
	autoware_map_msgs
	autoware_motion_utils
	autoware_perception_msgs
	autoware_planning_msgs
	autoware_route_handler
	autoware_utils_debug
	autoware_utils_logging
	autoware_utils_pcl
	autoware_utils_rclcpp
	autoware_velocity_smoother
	diagnostic_msgs
	geometry_msgs
	pcl_conversions
	pluginlib
	rclcpp
	rclcpp_components
	sensor_msgs
	tf2
	tf2_eigen
	tf2_geometry_msgs
	tf2_ros
	visualization_msgs

System Dependencies

Name
eigen
libboost-dev

Dependant Packages

Name	Deps
autoware_core_planning
autoware_behavior_velocity_stop_line_module

Launch files

launch/behavior_velocity_planner.launch.xml
- - common_param_path
  - vehicle_param_file
  - nearest_search_param_path
  - behavior_velocity_planner_launch_modules
  - behavior_velocity_config_path
  - behavior_velocity_smoother_type_param_path
  - behavior_velocity_planner_param_path
  - behavior_velocity_planner_common_param_path
  - behavior_velocity_planner_blind_spot_module_param_path
  - behavior_velocity_planner_crosswalk_module_param_path
  - behavior_velocity_planner_walkway_module_param_path
  - behavior_velocity_planner_detection_area_module_param_path
  - behavior_velocity_planner_intersection_module_param_path
  - behavior_velocity_planner_stop_line_module_param_path
  - behavior_velocity_planner_traffic_light_module_param_path
  - behavior_velocity_planner_virtual_traffic_light_module_param_path
  - behavior_velocity_planner_occlusion_spot_module_param_path
  - behavior_velocity_planner_no_stopping_area_module_param_path
  - behavior_velocity_planner_run_out_module_param_path
  - behavior_velocity_planner_speed_bump_module_param_path
  - behavior_velocity_planner_no_drivable_lane_module_param_path

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_behavior_velocity_planner` at Robotics Stack Exchange

No version for distro lunar showing humble. Known supported distros are highlighted in the buttons above.

autoware_behavior_velocity_planner package from autoware_core repo

autoware_adapi_specs autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

planning/behavior_velocity_planner/autoware_behavior_velocity_planner/README.md

Package Summary

Tags	No category tags.
Version	1.1.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-06-12
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

The autoware_behavior_velocity_planner package

Additional Links

No additional links.

Maintainers

Mamoru Sobue
Takayuki Murooka
Satoshi Ota
Kyoichi Sugahara
Taiki Tanaka
Kosuke Takeuchi
Tomohito Ando
Makoto Kurihara
Maxime Clement
Tomoya Kimura
Shumpei Wakabayashi

Authors

Taiki Tanaka
Mamoru Sobue
Satoshi Ota
Kyoichi Sugahara
Kosuke Takeuchi
Yutaka Shimizu
Tomohito Ando
Yukihiro Saito

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_internal_planning_msgs::msg::PathWithLaneId	path with lane_id
`~input/vector_map`	autoware_map_msgs::msg::LaneletMapBin	vector map
`~input/vehicle_odometry`	nav_msgs::msg::Odometry	vehicle velocity
`~input/dynamic_objects`	autoware_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::TrafficLightGroupArray	traffic light states

Output topics

Name	Type	Description
`~output/path`	autoware_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

Traffic Light Handling in sim/real

The handling of traffic light information varies depending on the usage. In the below table, the traffic signal topic element for the corresponding lane is denoted as info, and if info is not available, it is denoted as null.

module \ case	`info` is `null`	`info` is not `null`
intersection_occlusion(`is_simulation = *`) <ul> <li>`info` is the latest non-`null` information</li></ul>	GO(occlusion is ignored)	intersection_occlusion uses the latest non UNKNOWN observation in the queue up to present.<ul><li>If `info` is `GREEN or UNKNOWN`, occlusion is cared</li><li>If `info` is `RED or YELLOW`, occlusion is ignored(GO) </li> <li> NOTE: Currently timeout is not considered</li> </ul>
traffic_light(sim, `is_simulation = true`) <ul> <li>`info` is current information</li></ul>	GO	traffic_light uses the perceived traffic light information at present directly. <ul><li>If `info` is timeout, STOP whatever the color is</li> <li>If `info` is not timeout, then act according to the color. If `info` is `UNKNOWN`, STOP</li></ul> {: rowspan=2}
traffic_light(real, `is_simulation = false`) <ul> <li>`info` is current information</li></ul>	STOP	&#8288 {: style=”padding:0”}
crosswalk with Traffic Light(`is_simulation = *`) <ul> <li>`info` is current information</li></ul>	default	<ul> <li>If `disable_yield_for_new_stopped_object` is true, each sub scene_module ignore newly detected pedestrians after module instantiation.</li> <li>If `ignore_with_traffic_light` is true, occlusion detection is skipped.</li></ul>
map_based_prediction(`is_simulation = *`) <ul> <li>`info` is current information</li></ul>	default	If a pedestrian traffic light is<ul> <li>RED, surrounding pedestrians are not predicted.</li> <li>GREEN, stopped pedestrians are not predicted.</li></ul>

CHANGELOG

Changelog for package autoware_behavior_velocity_planner

1.1.0 (2025-05-01)

1.0.0 (2025-03-31)

chore: update version in package.xml
feat: port autoware_behavior_velocity_planner from autoware.universe to autoware.core (#230) Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>> Co-authored-by: 心刚 <<90366790+liuXinGangChina@users.noreply.github.com>>
Contributors: Ryohsuke Mitsudome, storrrrrrrrm

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	eigen3_cmake_module
	ament_cmake_ros
	ament_lint_auto
	autoware_lint_common
	autoware_behavior_velocity_planner_common
	autoware_internal_debug_msgs
	autoware_internal_planning_msgs
	autoware_lanelet2_extension
	autoware_map_msgs
	autoware_motion_utils
	autoware_perception_msgs
	autoware_planning_msgs
	autoware_route_handler
	autoware_utils_debug
	autoware_utils_logging
	autoware_utils_pcl
	autoware_utils_rclcpp
	autoware_velocity_smoother
	diagnostic_msgs
	geometry_msgs
	pcl_conversions
	pluginlib
	rclcpp
	rclcpp_components
	sensor_msgs
	tf2
	tf2_eigen
	tf2_geometry_msgs
	tf2_ros
	visualization_msgs

System Dependencies

Name
eigen
libboost-dev

Dependant Packages

Name	Deps
autoware_core_planning
autoware_behavior_velocity_stop_line_module

Launch files

launch/behavior_velocity_planner.launch.xml
- - common_param_path
  - vehicle_param_file
  - nearest_search_param_path
  - behavior_velocity_planner_launch_modules
  - behavior_velocity_config_path
  - behavior_velocity_smoother_type_param_path
  - behavior_velocity_planner_param_path
  - behavior_velocity_planner_common_param_path
  - behavior_velocity_planner_blind_spot_module_param_path
  - behavior_velocity_planner_crosswalk_module_param_path
  - behavior_velocity_planner_walkway_module_param_path
  - behavior_velocity_planner_detection_area_module_param_path
  - behavior_velocity_planner_intersection_module_param_path
  - behavior_velocity_planner_stop_line_module_param_path
  - behavior_velocity_planner_traffic_light_module_param_path
  - behavior_velocity_planner_virtual_traffic_light_module_param_path
  - behavior_velocity_planner_occlusion_spot_module_param_path
  - behavior_velocity_planner_no_stopping_area_module_param_path
  - behavior_velocity_planner_run_out_module_param_path
  - behavior_velocity_planner_speed_bump_module_param_path
  - behavior_velocity_planner_no_drivable_lane_module_param_path

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_behavior_velocity_planner` at Robotics Stack Exchange

No version for distro jade showing humble. Known supported distros are highlighted in the buttons above.

autoware_behavior_velocity_planner package from autoware_core repo

autoware_adapi_specs autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

planning/behavior_velocity_planner/autoware_behavior_velocity_planner/README.md

Package Summary

Tags	No category tags.
Version	1.1.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-06-12
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

The autoware_behavior_velocity_planner package

Additional Links

No additional links.

Maintainers

Mamoru Sobue
Takayuki Murooka
Satoshi Ota
Kyoichi Sugahara
Taiki Tanaka
Kosuke Takeuchi
Tomohito Ando
Makoto Kurihara
Maxime Clement
Tomoya Kimura
Shumpei Wakabayashi

Authors

Taiki Tanaka
Mamoru Sobue
Satoshi Ota
Kyoichi Sugahara
Kosuke Takeuchi
Yutaka Shimizu
Tomohito Ando
Yukihiro Saito

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_internal_planning_msgs::msg::PathWithLaneId	path with lane_id
`~input/vector_map`	autoware_map_msgs::msg::LaneletMapBin	vector map
`~input/vehicle_odometry`	nav_msgs::msg::Odometry	vehicle velocity
`~input/dynamic_objects`	autoware_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::TrafficLightGroupArray	traffic light states

Output topics

Name	Type	Description
`~output/path`	autoware_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

Traffic Light Handling in sim/real

The handling of traffic light information varies depending on the usage. In the below table, the traffic signal topic element for the corresponding lane is denoted as info, and if info is not available, it is denoted as null.

module \ case	`info` is `null`	`info` is not `null`
intersection_occlusion(`is_simulation = *`) <ul> <li>`info` is the latest non-`null` information</li></ul>	GO(occlusion is ignored)	intersection_occlusion uses the latest non UNKNOWN observation in the queue up to present.<ul><li>If `info` is `GREEN or UNKNOWN`, occlusion is cared</li><li>If `info` is `RED or YELLOW`, occlusion is ignored(GO) </li> <li> NOTE: Currently timeout is not considered</li> </ul>
traffic_light(sim, `is_simulation = true`) <ul> <li>`info` is current information</li></ul>	GO	traffic_light uses the perceived traffic light information at present directly. <ul><li>If `info` is timeout, STOP whatever the color is</li> <li>If `info` is not timeout, then act according to the color. If `info` is `UNKNOWN`, STOP</li></ul> {: rowspan=2}
traffic_light(real, `is_simulation = false`) <ul> <li>`info` is current information</li></ul>	STOP	&#8288 {: style=”padding:0”}
crosswalk with Traffic Light(`is_simulation = *`) <ul> <li>`info` is current information</li></ul>	default	<ul> <li>If `disable_yield_for_new_stopped_object` is true, each sub scene_module ignore newly detected pedestrians after module instantiation.</li> <li>If `ignore_with_traffic_light` is true, occlusion detection is skipped.</li></ul>
map_based_prediction(`is_simulation = *`) <ul> <li>`info` is current information</li></ul>	default	If a pedestrian traffic light is<ul> <li>RED, surrounding pedestrians are not predicted.</li> <li>GREEN, stopped pedestrians are not predicted.</li></ul>

CHANGELOG

Changelog for package autoware_behavior_velocity_planner

1.1.0 (2025-05-01)

1.0.0 (2025-03-31)

chore: update version in package.xml
feat: port autoware_behavior_velocity_planner from autoware.universe to autoware.core (#230) Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>> Co-authored-by: 心刚 <<90366790+liuXinGangChina@users.noreply.github.com>>
Contributors: Ryohsuke Mitsudome, storrrrrrrrm

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	eigen3_cmake_module
	ament_cmake_ros
	ament_lint_auto
	autoware_lint_common
	autoware_behavior_velocity_planner_common
	autoware_internal_debug_msgs
	autoware_internal_planning_msgs
	autoware_lanelet2_extension
	autoware_map_msgs
	autoware_motion_utils
	autoware_perception_msgs
	autoware_planning_msgs
	autoware_route_handler
	autoware_utils_debug
	autoware_utils_logging
	autoware_utils_pcl
	autoware_utils_rclcpp
	autoware_velocity_smoother
	diagnostic_msgs
	geometry_msgs
	pcl_conversions
	pluginlib
	rclcpp
	rclcpp_components
	sensor_msgs
	tf2
	tf2_eigen
	tf2_geometry_msgs
	tf2_ros
	visualization_msgs

System Dependencies

Name
eigen
libboost-dev

Dependant Packages

Name	Deps
autoware_core_planning
autoware_behavior_velocity_stop_line_module

Launch files

launch/behavior_velocity_planner.launch.xml
- - common_param_path
  - vehicle_param_file
  - nearest_search_param_path
  - behavior_velocity_planner_launch_modules
  - behavior_velocity_config_path
  - behavior_velocity_smoother_type_param_path
  - behavior_velocity_planner_param_path
  - behavior_velocity_planner_common_param_path
  - behavior_velocity_planner_blind_spot_module_param_path
  - behavior_velocity_planner_crosswalk_module_param_path
  - behavior_velocity_planner_walkway_module_param_path
  - behavior_velocity_planner_detection_area_module_param_path
  - behavior_velocity_planner_intersection_module_param_path
  - behavior_velocity_planner_stop_line_module_param_path
  - behavior_velocity_planner_traffic_light_module_param_path
  - behavior_velocity_planner_virtual_traffic_light_module_param_path
  - behavior_velocity_planner_occlusion_spot_module_param_path
  - behavior_velocity_planner_no_stopping_area_module_param_path
  - behavior_velocity_planner_run_out_module_param_path
  - behavior_velocity_planner_speed_bump_module_param_path
  - behavior_velocity_planner_no_drivable_lane_module_param_path

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_behavior_velocity_planner` at Robotics Stack Exchange

No version for distro indigo showing humble. Known supported distros are highlighted in the buttons above.

autoware_behavior_velocity_planner package from autoware_core repo

autoware_adapi_specs autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

planning/behavior_velocity_planner/autoware_behavior_velocity_planner/README.md

Package Summary

Tags	No category tags.
Version	1.1.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-06-12
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

The autoware_behavior_velocity_planner package

Additional Links

No additional links.

Maintainers

Mamoru Sobue
Takayuki Murooka
Satoshi Ota
Kyoichi Sugahara
Taiki Tanaka
Kosuke Takeuchi
Tomohito Ando
Makoto Kurihara
Maxime Clement
Tomoya Kimura
Shumpei Wakabayashi

Authors

Taiki Tanaka
Mamoru Sobue
Satoshi Ota
Kyoichi Sugahara
Kosuke Takeuchi
Yutaka Shimizu
Tomohito Ando
Yukihiro Saito

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_internal_planning_msgs::msg::PathWithLaneId	path with lane_id
`~input/vector_map`	autoware_map_msgs::msg::LaneletMapBin	vector map
`~input/vehicle_odometry`	nav_msgs::msg::Odometry	vehicle velocity
`~input/dynamic_objects`	autoware_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::TrafficLightGroupArray	traffic light states

Output topics

Name	Type	Description
`~output/path`	autoware_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

Traffic Light Handling in sim/real

The handling of traffic light information varies depending on the usage. In the below table, the traffic signal topic element for the corresponding lane is denoted as info, and if info is not available, it is denoted as null.

module \ case	`info` is `null`	`info` is not `null`
intersection_occlusion(`is_simulation = *`) <ul> <li>`info` is the latest non-`null` information</li></ul>	GO(occlusion is ignored)	intersection_occlusion uses the latest non UNKNOWN observation in the queue up to present.<ul><li>If `info` is `GREEN or UNKNOWN`, occlusion is cared</li><li>If `info` is `RED or YELLOW`, occlusion is ignored(GO) </li> <li> NOTE: Currently timeout is not considered</li> </ul>
traffic_light(sim, `is_simulation = true`) <ul> <li>`info` is current information</li></ul>	GO	traffic_light uses the perceived traffic light information at present directly. <ul><li>If `info` is timeout, STOP whatever the color is</li> <li>If `info` is not timeout, then act according to the color. If `info` is `UNKNOWN`, STOP</li></ul> {: rowspan=2}
traffic_light(real, `is_simulation = false`) <ul> <li>`info` is current information</li></ul>	STOP	&#8288 {: style=”padding:0”}
crosswalk with Traffic Light(`is_simulation = *`) <ul> <li>`info` is current information</li></ul>	default	<ul> <li>If `disable_yield_for_new_stopped_object` is true, each sub scene_module ignore newly detected pedestrians after module instantiation.</li> <li>If `ignore_with_traffic_light` is true, occlusion detection is skipped.</li></ul>
map_based_prediction(`is_simulation = *`) <ul> <li>`info` is current information</li></ul>	default	If a pedestrian traffic light is<ul> <li>RED, surrounding pedestrians are not predicted.</li> <li>GREEN, stopped pedestrians are not predicted.</li></ul>

CHANGELOG

Changelog for package autoware_behavior_velocity_planner

1.1.0 (2025-05-01)

1.0.0 (2025-03-31)

chore: update version in package.xml
feat: port autoware_behavior_velocity_planner from autoware.universe to autoware.core (#230) Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>> Co-authored-by: 心刚 <<90366790+liuXinGangChina@users.noreply.github.com>>
Contributors: Ryohsuke Mitsudome, storrrrrrrrm

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	eigen3_cmake_module
	ament_cmake_ros
	ament_lint_auto
	autoware_lint_common
	autoware_behavior_velocity_planner_common
	autoware_internal_debug_msgs
	autoware_internal_planning_msgs
	autoware_lanelet2_extension
	autoware_map_msgs
	autoware_motion_utils
	autoware_perception_msgs
	autoware_planning_msgs
	autoware_route_handler
	autoware_utils_debug
	autoware_utils_logging
	autoware_utils_pcl
	autoware_utils_rclcpp
	autoware_velocity_smoother
	diagnostic_msgs
	geometry_msgs
	pcl_conversions
	pluginlib
	rclcpp
	rclcpp_components
	sensor_msgs
	tf2
	tf2_eigen
	tf2_geometry_msgs
	tf2_ros
	visualization_msgs

System Dependencies

Name
eigen
libboost-dev

Dependant Packages

Name	Deps
autoware_core_planning
autoware_behavior_velocity_stop_line_module

Launch files

launch/behavior_velocity_planner.launch.xml
- - common_param_path
  - vehicle_param_file
  - nearest_search_param_path
  - behavior_velocity_planner_launch_modules
  - behavior_velocity_config_path
  - behavior_velocity_smoother_type_param_path
  - behavior_velocity_planner_param_path
  - behavior_velocity_planner_common_param_path
  - behavior_velocity_planner_blind_spot_module_param_path
  - behavior_velocity_planner_crosswalk_module_param_path
  - behavior_velocity_planner_walkway_module_param_path
  - behavior_velocity_planner_detection_area_module_param_path
  - behavior_velocity_planner_intersection_module_param_path
  - behavior_velocity_planner_stop_line_module_param_path
  - behavior_velocity_planner_traffic_light_module_param_path
  - behavior_velocity_planner_virtual_traffic_light_module_param_path
  - behavior_velocity_planner_occlusion_spot_module_param_path
  - behavior_velocity_planner_no_stopping_area_module_param_path
  - behavior_velocity_planner_run_out_module_param_path
  - behavior_velocity_planner_speed_bump_module_param_path
  - behavior_velocity_planner_no_drivable_lane_module_param_path

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_behavior_velocity_planner` at Robotics Stack Exchange

No version for distro hydro showing humble. Known supported distros are highlighted in the buttons above.

autoware_behavior_velocity_planner package from autoware_core repo

autoware_adapi_specs autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

planning/behavior_velocity_planner/autoware_behavior_velocity_planner/README.md

Package Summary

Tags	No category tags.
Version	1.1.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-06-12
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

The autoware_behavior_velocity_planner package

Additional Links

No additional links.

Maintainers

Mamoru Sobue
Takayuki Murooka
Satoshi Ota
Kyoichi Sugahara
Taiki Tanaka
Kosuke Takeuchi
Tomohito Ando
Makoto Kurihara
Maxime Clement
Tomoya Kimura
Shumpei Wakabayashi

Authors

Taiki Tanaka
Mamoru Sobue
Satoshi Ota
Kyoichi Sugahara
Kosuke Takeuchi
Yutaka Shimizu
Tomohito Ando
Yukihiro Saito

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_internal_planning_msgs::msg::PathWithLaneId	path with lane_id
`~input/vector_map`	autoware_map_msgs::msg::LaneletMapBin	vector map
`~input/vehicle_odometry`	nav_msgs::msg::Odometry	vehicle velocity
`~input/dynamic_objects`	autoware_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::TrafficLightGroupArray	traffic light states

Output topics

Name	Type	Description
`~output/path`	autoware_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

Traffic Light Handling in sim/real

The handling of traffic light information varies depending on the usage. In the below table, the traffic signal topic element for the corresponding lane is denoted as info, and if info is not available, it is denoted as null.

module \ case	`info` is `null`	`info` is not `null`
intersection_occlusion(`is_simulation = *`) <ul> <li>`info` is the latest non-`null` information</li></ul>	GO(occlusion is ignored)	intersection_occlusion uses the latest non UNKNOWN observation in the queue up to present.<ul><li>If `info` is `GREEN or UNKNOWN`, occlusion is cared</li><li>If `info` is `RED or YELLOW`, occlusion is ignored(GO) </li> <li> NOTE: Currently timeout is not considered</li> </ul>
traffic_light(sim, `is_simulation = true`) <ul> <li>`info` is current information</li></ul>	GO	traffic_light uses the perceived traffic light information at present directly. <ul><li>If `info` is timeout, STOP whatever the color is</li> <li>If `info` is not timeout, then act according to the color. If `info` is `UNKNOWN`, STOP</li></ul> {: rowspan=2}
traffic_light(real, `is_simulation = false`) <ul> <li>`info` is current information</li></ul>	STOP	&#8288 {: style=”padding:0”}
crosswalk with Traffic Light(`is_simulation = *`) <ul> <li>`info` is current information</li></ul>	default	<ul> <li>If `disable_yield_for_new_stopped_object` is true, each sub scene_module ignore newly detected pedestrians after module instantiation.</li> <li>If `ignore_with_traffic_light` is true, occlusion detection is skipped.</li></ul>
map_based_prediction(`is_simulation = *`) <ul> <li>`info` is current information</li></ul>	default	If a pedestrian traffic light is<ul> <li>RED, surrounding pedestrians are not predicted.</li> <li>GREEN, stopped pedestrians are not predicted.</li></ul>

CHANGELOG

Changelog for package autoware_behavior_velocity_planner

1.1.0 (2025-05-01)

1.0.0 (2025-03-31)

chore: update version in package.xml
feat: port autoware_behavior_velocity_planner from autoware.universe to autoware.core (#230) Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>> Co-authored-by: 心刚 <<90366790+liuXinGangChina@users.noreply.github.com>>
Contributors: Ryohsuke Mitsudome, storrrrrrrrm

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	eigen3_cmake_module
	ament_cmake_ros
	ament_lint_auto
	autoware_lint_common
	autoware_behavior_velocity_planner_common
	autoware_internal_debug_msgs
	autoware_internal_planning_msgs
	autoware_lanelet2_extension
	autoware_map_msgs
	autoware_motion_utils
	autoware_perception_msgs
	autoware_planning_msgs
	autoware_route_handler
	autoware_utils_debug
	autoware_utils_logging
	autoware_utils_pcl
	autoware_utils_rclcpp
	autoware_velocity_smoother
	diagnostic_msgs
	geometry_msgs
	pcl_conversions
	pluginlib
	rclcpp
	rclcpp_components
	sensor_msgs
	tf2
	tf2_eigen
	tf2_geometry_msgs
	tf2_ros
	visualization_msgs

System Dependencies

Name
eigen
libboost-dev

Dependant Packages

Name	Deps
autoware_core_planning
autoware_behavior_velocity_stop_line_module

Launch files

launch/behavior_velocity_planner.launch.xml
- - common_param_path
  - vehicle_param_file
  - nearest_search_param_path
  - behavior_velocity_planner_launch_modules
  - behavior_velocity_config_path
  - behavior_velocity_smoother_type_param_path
  - behavior_velocity_planner_param_path
  - behavior_velocity_planner_common_param_path
  - behavior_velocity_planner_blind_spot_module_param_path
  - behavior_velocity_planner_crosswalk_module_param_path
  - behavior_velocity_planner_walkway_module_param_path
  - behavior_velocity_planner_detection_area_module_param_path
  - behavior_velocity_planner_intersection_module_param_path
  - behavior_velocity_planner_stop_line_module_param_path
  - behavior_velocity_planner_traffic_light_module_param_path
  - behavior_velocity_planner_virtual_traffic_light_module_param_path
  - behavior_velocity_planner_occlusion_spot_module_param_path
  - behavior_velocity_planner_no_stopping_area_module_param_path
  - behavior_velocity_planner_run_out_module_param_path
  - behavior_velocity_planner_speed_bump_module_param_path
  - behavior_velocity_planner_no_drivable_lane_module_param_path

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_behavior_velocity_planner` at Robotics Stack Exchange

No version for distro kinetic showing humble. Known supported distros are highlighted in the buttons above.

autoware_behavior_velocity_planner package from autoware_core repo

autoware_adapi_specs autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

planning/behavior_velocity_planner/autoware_behavior_velocity_planner/README.md

Package Summary

Tags	No category tags.
Version	1.1.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-06-12
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

The autoware_behavior_velocity_planner package

Additional Links

No additional links.

Maintainers

Mamoru Sobue
Takayuki Murooka
Satoshi Ota
Kyoichi Sugahara
Taiki Tanaka
Kosuke Takeuchi
Tomohito Ando
Makoto Kurihara
Maxime Clement
Tomoya Kimura
Shumpei Wakabayashi

Authors

Taiki Tanaka
Mamoru Sobue
Satoshi Ota
Kyoichi Sugahara
Kosuke Takeuchi
Yutaka Shimizu
Tomohito Ando
Yukihiro Saito

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_internal_planning_msgs::msg::PathWithLaneId	path with lane_id
`~input/vector_map`	autoware_map_msgs::msg::LaneletMapBin	vector map
`~input/vehicle_odometry`	nav_msgs::msg::Odometry	vehicle velocity
`~input/dynamic_objects`	autoware_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::TrafficLightGroupArray	traffic light states

Output topics

Name	Type	Description
`~output/path`	autoware_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

Traffic Light Handling in sim/real

The handling of traffic light information varies depending on the usage. In the below table, the traffic signal topic element for the corresponding lane is denoted as info, and if info is not available, it is denoted as null.

module \ case	`info` is `null`	`info` is not `null`
intersection_occlusion(`is_simulation = *`) <ul> <li>`info` is the latest non-`null` information</li></ul>	GO(occlusion is ignored)	intersection_occlusion uses the latest non UNKNOWN observation in the queue up to present.<ul><li>If `info` is `GREEN or UNKNOWN`, occlusion is cared</li><li>If `info` is `RED or YELLOW`, occlusion is ignored(GO) </li> <li> NOTE: Currently timeout is not considered</li> </ul>
traffic_light(sim, `is_simulation = true`) <ul> <li>`info` is current information</li></ul>	GO	traffic_light uses the perceived traffic light information at present directly. <ul><li>If `info` is timeout, STOP whatever the color is</li> <li>If `info` is not timeout, then act according to the color. If `info` is `UNKNOWN`, STOP</li></ul> {: rowspan=2}
traffic_light(real, `is_simulation = false`) <ul> <li>`info` is current information</li></ul>	STOP	&#8288 {: style=”padding:0”}
crosswalk with Traffic Light(`is_simulation = *`) <ul> <li>`info` is current information</li></ul>	default	<ul> <li>If `disable_yield_for_new_stopped_object` is true, each sub scene_module ignore newly detected pedestrians after module instantiation.</li> <li>If `ignore_with_traffic_light` is true, occlusion detection is skipped.</li></ul>
map_based_prediction(`is_simulation = *`) <ul> <li>`info` is current information</li></ul>	default	If a pedestrian traffic light is<ul> <li>RED, surrounding pedestrians are not predicted.</li> <li>GREEN, stopped pedestrians are not predicted.</li></ul>

CHANGELOG

Changelog for package autoware_behavior_velocity_planner

1.1.0 (2025-05-01)

1.0.0 (2025-03-31)

chore: update version in package.xml
feat: port autoware_behavior_velocity_planner from autoware.universe to autoware.core (#230) Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>> Co-authored-by: 心刚 <<90366790+liuXinGangChina@users.noreply.github.com>>
Contributors: Ryohsuke Mitsudome, storrrrrrrrm

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	eigen3_cmake_module
	ament_cmake_ros
	ament_lint_auto
	autoware_lint_common
	autoware_behavior_velocity_planner_common
	autoware_internal_debug_msgs
	autoware_internal_planning_msgs
	autoware_lanelet2_extension
	autoware_map_msgs
	autoware_motion_utils
	autoware_perception_msgs
	autoware_planning_msgs
	autoware_route_handler
	autoware_utils_debug
	autoware_utils_logging
	autoware_utils_pcl
	autoware_utils_rclcpp
	autoware_velocity_smoother
	diagnostic_msgs
	geometry_msgs
	pcl_conversions
	pluginlib
	rclcpp
	rclcpp_components
	sensor_msgs
	tf2
	tf2_eigen
	tf2_geometry_msgs
	tf2_ros
	visualization_msgs

System Dependencies

Name
eigen
libboost-dev

Dependant Packages

Name	Deps
autoware_core_planning
autoware_behavior_velocity_stop_line_module

Launch files

launch/behavior_velocity_planner.launch.xml
- - common_param_path
  - vehicle_param_file
  - nearest_search_param_path
  - behavior_velocity_planner_launch_modules
  - behavior_velocity_config_path
  - behavior_velocity_smoother_type_param_path
  - behavior_velocity_planner_param_path
  - behavior_velocity_planner_common_param_path
  - behavior_velocity_planner_blind_spot_module_param_path
  - behavior_velocity_planner_crosswalk_module_param_path
  - behavior_velocity_planner_walkway_module_param_path
  - behavior_velocity_planner_detection_area_module_param_path
  - behavior_velocity_planner_intersection_module_param_path
  - behavior_velocity_planner_stop_line_module_param_path
  - behavior_velocity_planner_traffic_light_module_param_path
  - behavior_velocity_planner_virtual_traffic_light_module_param_path
  - behavior_velocity_planner_occlusion_spot_module_param_path
  - behavior_velocity_planner_no_stopping_area_module_param_path
  - behavior_velocity_planner_run_out_module_param_path
  - behavior_velocity_planner_speed_bump_module_param_path
  - behavior_velocity_planner_no_drivable_lane_module_param_path

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_behavior_velocity_planner` at Robotics Stack Exchange

No version for distro melodic showing humble. Known supported distros are highlighted in the buttons above.

autoware_behavior_velocity_planner package from autoware_core repo

autoware_adapi_specs autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

planning/behavior_velocity_planner/autoware_behavior_velocity_planner/README.md

Package Summary

Tags	No category tags.
Version	1.1.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-06-12
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

The autoware_behavior_velocity_planner package

Additional Links

No additional links.

Maintainers

Mamoru Sobue
Takayuki Murooka
Satoshi Ota
Kyoichi Sugahara
Taiki Tanaka
Kosuke Takeuchi
Tomohito Ando
Makoto Kurihara
Maxime Clement
Tomoya Kimura
Shumpei Wakabayashi

Authors

Taiki Tanaka
Mamoru Sobue
Satoshi Ota
Kyoichi Sugahara
Kosuke Takeuchi
Yutaka Shimizu
Tomohito Ando
Yukihiro Saito

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_internal_planning_msgs::msg::PathWithLaneId	path with lane_id
`~input/vector_map`	autoware_map_msgs::msg::LaneletMapBin	vector map
`~input/vehicle_odometry`	nav_msgs::msg::Odometry	vehicle velocity
`~input/dynamic_objects`	autoware_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::TrafficLightGroupArray	traffic light states

Output topics

Name	Type	Description
`~output/path`	autoware_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

Traffic Light Handling in sim/real

The handling of traffic light information varies depending on the usage. In the below table, the traffic signal topic element for the corresponding lane is denoted as info, and if info is not available, it is denoted as null.

module \ case	`info` is `null`	`info` is not `null`
intersection_occlusion(`is_simulation = *`) <ul> <li>`info` is the latest non-`null` information</li></ul>	GO(occlusion is ignored)	intersection_occlusion uses the latest non UNKNOWN observation in the queue up to present.<ul><li>If `info` is `GREEN or UNKNOWN`, occlusion is cared</li><li>If `info` is `RED or YELLOW`, occlusion is ignored(GO) </li> <li> NOTE: Currently timeout is not considered</li> </ul>
traffic_light(sim, `is_simulation = true`) <ul> <li>`info` is current information</li></ul>	GO	traffic_light uses the perceived traffic light information at present directly. <ul><li>If `info` is timeout, STOP whatever the color is</li> <li>If `info` is not timeout, then act according to the color. If `info` is `UNKNOWN`, STOP</li></ul> {: rowspan=2}
traffic_light(real, `is_simulation = false`) <ul> <li>`info` is current information</li></ul>	STOP	&#8288 {: style=”padding:0”}
crosswalk with Traffic Light(`is_simulation = *`) <ul> <li>`info` is current information</li></ul>	default	<ul> <li>If `disable_yield_for_new_stopped_object` is true, each sub scene_module ignore newly detected pedestrians after module instantiation.</li> <li>If `ignore_with_traffic_light` is true, occlusion detection is skipped.</li></ul>
map_based_prediction(`is_simulation = *`) <ul> <li>`info` is current information</li></ul>	default	If a pedestrian traffic light is<ul> <li>RED, surrounding pedestrians are not predicted.</li> <li>GREEN, stopped pedestrians are not predicted.</li></ul>

CHANGELOG

Changelog for package autoware_behavior_velocity_planner

1.1.0 (2025-05-01)

1.0.0 (2025-03-31)

chore: update version in package.xml
feat: port autoware_behavior_velocity_planner from autoware.universe to autoware.core (#230) Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>> Co-authored-by: 心刚 <<90366790+liuXinGangChina@users.noreply.github.com>>
Contributors: Ryohsuke Mitsudome, storrrrrrrrm

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	eigen3_cmake_module
	ament_cmake_ros
	ament_lint_auto
	autoware_lint_common
	autoware_behavior_velocity_planner_common
	autoware_internal_debug_msgs
	autoware_internal_planning_msgs
	autoware_lanelet2_extension
	autoware_map_msgs
	autoware_motion_utils
	autoware_perception_msgs
	autoware_planning_msgs
	autoware_route_handler
	autoware_utils_debug
	autoware_utils_logging
	autoware_utils_pcl
	autoware_utils_rclcpp
	autoware_velocity_smoother
	diagnostic_msgs
	geometry_msgs
	pcl_conversions
	pluginlib
	rclcpp
	rclcpp_components
	sensor_msgs
	tf2
	tf2_eigen
	tf2_geometry_msgs
	tf2_ros
	visualization_msgs

System Dependencies

Name
eigen
libboost-dev

Dependant Packages

Name	Deps
autoware_core_planning
autoware_behavior_velocity_stop_line_module

Launch files

launch/behavior_velocity_planner.launch.xml
- - common_param_path
  - vehicle_param_file
  - nearest_search_param_path
  - behavior_velocity_planner_launch_modules
  - behavior_velocity_config_path
  - behavior_velocity_smoother_type_param_path
  - behavior_velocity_planner_param_path
  - behavior_velocity_planner_common_param_path
  - behavior_velocity_planner_blind_spot_module_param_path
  - behavior_velocity_planner_crosswalk_module_param_path
  - behavior_velocity_planner_walkway_module_param_path
  - behavior_velocity_planner_detection_area_module_param_path
  - behavior_velocity_planner_intersection_module_param_path
  - behavior_velocity_planner_stop_line_module_param_path
  - behavior_velocity_planner_traffic_light_module_param_path
  - behavior_velocity_planner_virtual_traffic_light_module_param_path
  - behavior_velocity_planner_occlusion_spot_module_param_path
  - behavior_velocity_planner_no_stopping_area_module_param_path
  - behavior_velocity_planner_run_out_module_param_path
  - behavior_velocity_planner_speed_bump_module_param_path
  - behavior_velocity_planner_no_drivable_lane_module_param_path

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_behavior_velocity_planner` at Robotics Stack Exchange

No version for distro noetic showing humble. Known supported distros are highlighted in the buttons above.

autoware_behavior_velocity_planner package from autoware_core repo

autoware_adapi_specs autoware_core autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_core_control autoware_simple_pure_pursuit autoware_core_localization autoware_ekf_localizer autoware_gyro_odometer autoware_localization_util autoware_ndt_scan_matcher autoware_pose_initializer autoware_stop_filter autoware_twist2accel autoware_core_map autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_loader autoware_map_projection_loader autoware_core_perception autoware_euclidean_cluster_object_detector autoware_ground_filter autoware_perception_objects_converter autoware_core_planning autoware_mission_planner autoware_objects_of_interest_marker_interface autoware_path_generator autoware_planning_factor_interface autoware_planning_topic_converter autoware_route_handler autoware_velocity_smoother autoware_behavior_velocity_planner autoware_behavior_velocity_planner_common autoware_behavior_velocity_stop_line_module autoware_motion_velocity_obstacle_stop_module autoware_motion_velocity_planner autoware_motion_velocity_planner_common autoware_core_sensing autoware_crop_box_filter autoware_downsample_filters autoware_gnss_poser autoware_vehicle_velocity_converter autoware_planning_test_manager autoware_pyplot autoware_test_node autoware_test_utils autoware_testing autoware_core_vehicle

ROS Distro
humble

planning/behavior_velocity_planner/autoware_behavior_velocity_planner/README.md

Package Summary

Tags	No category tags.
Version	1.1.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_core.git
VCS Type	git
VCS Version	main
Last Updated	2025-06-12
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

The autoware_behavior_velocity_planner package

Additional Links

No additional links.

Maintainers

Mamoru Sobue
Takayuki Murooka
Satoshi Ota
Kyoichi Sugahara
Taiki Tanaka
Kosuke Takeuchi
Tomohito Ando
Makoto Kurihara
Maxime Clement
Tomoya Kimura
Shumpei Wakabayashi

Authors

Taiki Tanaka
Mamoru Sobue
Satoshi Ota
Kyoichi Sugahara
Kosuke Takeuchi
Yutaka Shimizu
Tomohito Ando
Yukihiro Saito

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_internal_planning_msgs::msg::PathWithLaneId	path with lane_id
`~input/vector_map`	autoware_map_msgs::msg::LaneletMapBin	vector map
`~input/vehicle_odometry`	nav_msgs::msg::Odometry	vehicle velocity
`~input/dynamic_objects`	autoware_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::TrafficLightGroupArray	traffic light states

Output topics

Name	Type	Description
`~output/path`	autoware_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

Traffic Light Handling in sim/real

The handling of traffic light information varies depending on the usage. In the below table, the traffic signal topic element for the corresponding lane is denoted as info, and if info is not available, it is denoted as null.

module \ case	`info` is `null`	`info` is not `null`
intersection_occlusion(`is_simulation = *`) <ul> <li>`info` is the latest non-`null` information</li></ul>	GO(occlusion is ignored)	intersection_occlusion uses the latest non UNKNOWN observation in the queue up to present.<ul><li>If `info` is `GREEN or UNKNOWN`, occlusion is cared</li><li>If `info` is `RED or YELLOW`, occlusion is ignored(GO) </li> <li> NOTE: Currently timeout is not considered</li> </ul>
traffic_light(sim, `is_simulation = true`) <ul> <li>`info` is current information</li></ul>	GO	traffic_light uses the perceived traffic light information at present directly. <ul><li>If `info` is timeout, STOP whatever the color is</li> <li>If `info` is not timeout, then act according to the color. If `info` is `UNKNOWN`, STOP</li></ul> {: rowspan=2}
traffic_light(real, `is_simulation = false`) <ul> <li>`info` is current information</li></ul>	STOP	&#8288 {: style=”padding:0”}
crosswalk with Traffic Light(`is_simulation = *`) <ul> <li>`info` is current information</li></ul>	default	<ul> <li>If `disable_yield_for_new_stopped_object` is true, each sub scene_module ignore newly detected pedestrians after module instantiation.</li> <li>If `ignore_with_traffic_light` is true, occlusion detection is skipped.</li></ul>
map_based_prediction(`is_simulation = *`) <ul> <li>`info` is current information</li></ul>	default	If a pedestrian traffic light is<ul> <li>RED, surrounding pedestrians are not predicted.</li> <li>GREEN, stopped pedestrians are not predicted.</li></ul>

CHANGELOG

Changelog for package autoware_behavior_velocity_planner

1.1.0 (2025-05-01)

1.0.0 (2025-03-31)

chore: update version in package.xml
feat: port autoware_behavior_velocity_planner from autoware.universe to autoware.core (#230) Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>> Co-authored-by: 心刚 <<90366790+liuXinGangChina@users.noreply.github.com>>
Contributors: Ryohsuke Mitsudome, storrrrrrrrm

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	eigen3_cmake_module
	ament_cmake_ros
	ament_lint_auto
	autoware_lint_common
	autoware_behavior_velocity_planner_common
	autoware_internal_debug_msgs
	autoware_internal_planning_msgs
	autoware_lanelet2_extension
	autoware_map_msgs
	autoware_motion_utils
	autoware_perception_msgs
	autoware_planning_msgs
	autoware_route_handler
	autoware_utils_debug
	autoware_utils_logging
	autoware_utils_pcl
	autoware_utils_rclcpp
	autoware_velocity_smoother
	diagnostic_msgs
	geometry_msgs
	pcl_conversions
	pluginlib
	rclcpp
	rclcpp_components
	sensor_msgs
	tf2
	tf2_eigen
	tf2_geometry_msgs
	tf2_ros
	visualization_msgs

System Dependencies

Name
eigen
libboost-dev

Dependant Packages

Name	Deps
autoware_core_planning
autoware_behavior_velocity_stop_line_module

Launch files

launch/behavior_velocity_planner.launch.xml
- - common_param_path
  - vehicle_param_file
  - nearest_search_param_path
  - behavior_velocity_planner_launch_modules
  - behavior_velocity_config_path
  - behavior_velocity_smoother_type_param_path
  - behavior_velocity_planner_param_path
  - behavior_velocity_planner_common_param_path
  - behavior_velocity_planner_blind_spot_module_param_path
  - behavior_velocity_planner_crosswalk_module_param_path
  - behavior_velocity_planner_walkway_module_param_path
  - behavior_velocity_planner_detection_area_module_param_path
  - behavior_velocity_planner_intersection_module_param_path
  - behavior_velocity_planner_stop_line_module_param_path
  - behavior_velocity_planner_traffic_light_module_param_path
  - behavior_velocity_planner_virtual_traffic_light_module_param_path
  - behavior_velocity_planner_occlusion_spot_module_param_path
  - behavior_velocity_planner_no_stopping_area_module_param_path
  - behavior_velocity_planner_run_out_module_param_path
  - behavior_velocity_planner_speed_bump_module_param_path
  - behavior_velocity_planner_no_drivable_lane_module_param_path

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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