Behavior Velocity Planner

planning/behavior_velocity_planner/autoware_behavior_velocity_planner/README.md

Package Summary

Version	1.9.0
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	2026-07-03
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The autoware_behavior_velocity_planner package

Maintainers

Zulfaqar Azmi
Mamoru Sobue
Takumi Odashima

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)

1.9.0 (2026-06-24)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
refactor(autoware_behavior_velocity_planner): extract node-agnostic data-ingestion helpers (#1114)

* refactor(autoware_behavior_velocity_planner): extract node-agnostic data-ingestion helpers Extract the byte-identical traffic-signal aggregation and velocity-buffer pruning logic that was copy-pasted between the legacy and experimental BehaviorVelocityPlannerNode variants into package-internal, node-agnostic free functions (data_processing::apply_traffic_signals and data_processing::prune_velocity_buffer). Both node variants now call one implementation, removing the duplicated logic from processOdometry/processTrafficSignals. The new free functions are pure transforms over PlannerData fields, which creates a unit-test seam that previously did not exist: the only test was a launch-style smoke test with zero scene plugins. Add gtests asserting the traffic-signal UNKNOWN-keep-last-observation contract (keep prior body, refresh timestamp; first UNKNOWN stored as-is) and the velocity-buffer time pruning (stale-from-back removal, exact-threshold boundary retention, future-stamp negative-time guard). This change is internal-only and behavior-preserving: no public node API, topics, or message types change. Refs: autowarefoundation/autoware_core#1096

* refactor(autoware_behavior_velocity_planner): add <deque> include and bump new-file copyright year Refs: autowarefoundation/autoware_core#1096 ---------
fix(planning): skip processing empty no_ground_pointcloud to avoid PCL warning spam (#1082)
Contributors: Mert Yavuz, Yutaka Kondo, github-actions

1.8.0 (2026-05-01)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
chore(planning, bvp): remove unused lanelet2_extension header (#902)
- remove unused lanelet2_extension in bvp modules
* remove unused lanelet2_extension in planning components ---------
fix(autoware_behavior_velocity_planner): fix bugprone-narrowing-conversions warnings (#939)
chore(bvp): port missing feature in behavior_velocity_planner's experimental version (#892) change tf2_ros to hpp header (616)
chore: organize maintainer (#857)
chore(planning, misc): remove unused header includes (#840)
Contributors: Mamoru Sobue, NorahXiong, Sarun MUKDAPITAK, Satoshi OTA, github-actions

1.7.0 (2026-02-14)

1.6.0 (2025-12-30)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
chore: tf2_ros to hpp headers (#616)
Contributors: Tim Clephas, github-actions

1.5.0 (2025-11-16)

Merge remote-tracking branch 'origin/main' into humble
feat: replace [ament_auto_package]{.title-ref} to [autoware_ament_auto_package]{.title-ref} (#700)
- replace ament_auto_package to autoware_ament_auto_package
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
feat(behavior_velocity_planner and

File truncated at 100 lines see the full file

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_map_msgs
	autoware_motion_utils
	autoware_perception_msgs
	autoware_planning_msgs
	autoware_route_handler
	autoware_trajectory
	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_roundabout_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_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

autoware_behavior_velocity_planner package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_agnocast_wrapper autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qos_utils autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_command_gate autoware_core_control autoware_simple_pure_pursuit autoware_awsim_sensor_kit_description autoware_sample_sensor_kit_description autoware_sample_vehicle_description 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
jazzy

planning/behavior_velocity_planner/autoware_behavior_velocity_planner/README.md

Package Summary

Version	1.9.0
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	2026-07-03
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The autoware_behavior_velocity_planner package

Maintainers

Zulfaqar Azmi
Mamoru Sobue
Takumi Odashima

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)

1.9.0 (2026-06-24)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
refactor(autoware_behavior_velocity_planner): extract node-agnostic data-ingestion helpers (#1114)

* refactor(autoware_behavior_velocity_planner): extract node-agnostic data-ingestion helpers Extract the byte-identical traffic-signal aggregation and velocity-buffer pruning logic that was copy-pasted between the legacy and experimental BehaviorVelocityPlannerNode variants into package-internal, node-agnostic free functions (data_processing::apply_traffic_signals and data_processing::prune_velocity_buffer). Both node variants now call one implementation, removing the duplicated logic from processOdometry/processTrafficSignals. The new free functions are pure transforms over PlannerData fields, which creates a unit-test seam that previously did not exist: the only test was a launch-style smoke test with zero scene plugins. Add gtests asserting the traffic-signal UNKNOWN-keep-last-observation contract (keep prior body, refresh timestamp; first UNKNOWN stored as-is) and the velocity-buffer time pruning (stale-from-back removal, exact-threshold boundary retention, future-stamp negative-time guard). This change is internal-only and behavior-preserving: no public node API, topics, or message types change. Refs: autowarefoundation/autoware_core#1096

* refactor(autoware_behavior_velocity_planner): add <deque> include and bump new-file copyright year Refs: autowarefoundation/autoware_core#1096 ---------
fix(planning): skip processing empty no_ground_pointcloud to avoid PCL warning spam (#1082)
Contributors: Mert Yavuz, Yutaka Kondo, github-actions

1.8.0 (2026-05-01)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
chore(planning, bvp): remove unused lanelet2_extension header (#902)
- remove unused lanelet2_extension in bvp modules
* remove unused lanelet2_extension in planning components ---------
fix(autoware_behavior_velocity_planner): fix bugprone-narrowing-conversions warnings (#939)
chore(bvp): port missing feature in behavior_velocity_planner's experimental version (#892) change tf2_ros to hpp header (616)
chore: organize maintainer (#857)
chore(planning, misc): remove unused header includes (#840)
Contributors: Mamoru Sobue, NorahXiong, Sarun MUKDAPITAK, Satoshi OTA, github-actions

1.7.0 (2026-02-14)

1.6.0 (2025-12-30)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
chore: tf2_ros to hpp headers (#616)
Contributors: Tim Clephas, github-actions

1.5.0 (2025-11-16)

Merge remote-tracking branch 'origin/main' into humble
feat: replace [ament_auto_package]{.title-ref} to [autoware_ament_auto_package]{.title-ref} (#700)
- replace ament_auto_package to autoware_ament_auto_package
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
feat(behavior_velocity_planner and

File truncated at 100 lines see the full file

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_map_msgs
	autoware_motion_utils
	autoware_perception_msgs
	autoware_planning_msgs
	autoware_route_handler
	autoware_trajectory
	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_roundabout_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_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_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_agnocast_wrapper autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qos_utils autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_command_gate autoware_core_control autoware_simple_pure_pursuit autoware_awsim_sensor_kit_description autoware_sample_sensor_kit_description autoware_sample_vehicle_description 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

Version	1.9.0
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	2026-07-03
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The autoware_behavior_velocity_planner package

Maintainers

Zulfaqar Azmi
Mamoru Sobue
Takumi Odashima

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)

1.9.0 (2026-06-24)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
refactor(autoware_behavior_velocity_planner): extract node-agnostic data-ingestion helpers (#1114)

* refactor(autoware_behavior_velocity_planner): extract node-agnostic data-ingestion helpers Extract the byte-identical traffic-signal aggregation and velocity-buffer pruning logic that was copy-pasted between the legacy and experimental BehaviorVelocityPlannerNode variants into package-internal, node-agnostic free functions (data_processing::apply_traffic_signals and data_processing::prune_velocity_buffer). Both node variants now call one implementation, removing the duplicated logic from processOdometry/processTrafficSignals. The new free functions are pure transforms over PlannerData fields, which creates a unit-test seam that previously did not exist: the only test was a launch-style smoke test with zero scene plugins. Add gtests asserting the traffic-signal UNKNOWN-keep-last-observation contract (keep prior body, refresh timestamp; first UNKNOWN stored as-is) and the velocity-buffer time pruning (stale-from-back removal, exact-threshold boundary retention, future-stamp negative-time guard). This change is internal-only and behavior-preserving: no public node API, topics, or message types change. Refs: autowarefoundation/autoware_core#1096

* refactor(autoware_behavior_velocity_planner): add <deque> include and bump new-file copyright year Refs: autowarefoundation/autoware_core#1096 ---------
fix(planning): skip processing empty no_ground_pointcloud to avoid PCL warning spam (#1082)
Contributors: Mert Yavuz, Yutaka Kondo, github-actions

1.8.0 (2026-05-01)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
chore(planning, bvp): remove unused lanelet2_extension header (#902)
- remove unused lanelet2_extension in bvp modules
* remove unused lanelet2_extension in planning components ---------
fix(autoware_behavior_velocity_planner): fix bugprone-narrowing-conversions warnings (#939)
chore(bvp): port missing feature in behavior_velocity_planner's experimental version (#892) change tf2_ros to hpp header (616)
chore: organize maintainer (#857)
chore(planning, misc): remove unused header includes (#840)
Contributors: Mamoru Sobue, NorahXiong, Sarun MUKDAPITAK, Satoshi OTA, github-actions

1.7.0 (2026-02-14)

1.6.0 (2025-12-30)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
chore: tf2_ros to hpp headers (#616)
Contributors: Tim Clephas, github-actions

1.5.0 (2025-11-16)

Merge remote-tracking branch 'origin/main' into humble
feat: replace [ament_auto_package]{.title-ref} to [autoware_ament_auto_package]{.title-ref} (#700)
- replace ament_auto_package to autoware_ament_auto_package
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
feat(behavior_velocity_planner and

File truncated at 100 lines see the full file

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_map_msgs
	autoware_motion_utils
	autoware_perception_msgs
	autoware_planning_msgs
	autoware_route_handler
	autoware_trajectory
	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_roundabout_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_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 lyrical showing humble. Known supported distros are highlighted in the buttons above.

autoware_behavior_velocity_planner package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_agnocast_wrapper autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qos_utils autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_command_gate autoware_core_control autoware_simple_pure_pursuit autoware_awsim_sensor_kit_description autoware_sample_sensor_kit_description autoware_sample_vehicle_description 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

Version	1.9.0
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	2026-07-03
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The autoware_behavior_velocity_planner package

Maintainers

Zulfaqar Azmi
Mamoru Sobue
Takumi Odashima

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)

1.9.0 (2026-06-24)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
refactor(autoware_behavior_velocity_planner): extract node-agnostic data-ingestion helpers (#1114)

* refactor(autoware_behavior_velocity_planner): extract node-agnostic data-ingestion helpers Extract the byte-identical traffic-signal aggregation and velocity-buffer pruning logic that was copy-pasted between the legacy and experimental BehaviorVelocityPlannerNode variants into package-internal, node-agnostic free functions (data_processing::apply_traffic_signals and data_processing::prune_velocity_buffer). Both node variants now call one implementation, removing the duplicated logic from processOdometry/processTrafficSignals. The new free functions are pure transforms over PlannerData fields, which creates a unit-test seam that previously did not exist: the only test was a launch-style smoke test with zero scene plugins. Add gtests asserting the traffic-signal UNKNOWN-keep-last-observation contract (keep prior body, refresh timestamp; first UNKNOWN stored as-is) and the velocity-buffer time pruning (stale-from-back removal, exact-threshold boundary retention, future-stamp negative-time guard). This change is internal-only and behavior-preserving: no public node API, topics, or message types change. Refs: autowarefoundation/autoware_core#1096

* refactor(autoware_behavior_velocity_planner): add <deque> include and bump new-file copyright year Refs: autowarefoundation/autoware_core#1096 ---------
fix(planning): skip processing empty no_ground_pointcloud to avoid PCL warning spam (#1082)
Contributors: Mert Yavuz, Yutaka Kondo, github-actions

1.8.0 (2026-05-01)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
chore(planning, bvp): remove unused lanelet2_extension header (#902)
- remove unused lanelet2_extension in bvp modules
* remove unused lanelet2_extension in planning components ---------
fix(autoware_behavior_velocity_planner): fix bugprone-narrowing-conversions warnings (#939)
chore(bvp): port missing feature in behavior_velocity_planner's experimental version (#892) change tf2_ros to hpp header (616)
chore: organize maintainer (#857)
chore(planning, misc): remove unused header includes (#840)
Contributors: Mamoru Sobue, NorahXiong, Sarun MUKDAPITAK, Satoshi OTA, github-actions

1.7.0 (2026-02-14)

1.6.0 (2025-12-30)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
chore: tf2_ros to hpp headers (#616)
Contributors: Tim Clephas, github-actions

1.5.0 (2025-11-16)

Merge remote-tracking branch 'origin/main' into humble
feat: replace [ament_auto_package]{.title-ref} to [autoware_ament_auto_package]{.title-ref} (#700)
- replace ament_auto_package to autoware_ament_auto_package
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
feat(behavior_velocity_planner and

File truncated at 100 lines see the full file

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_map_msgs
	autoware_motion_utils
	autoware_perception_msgs
	autoware_planning_msgs
	autoware_route_handler
	autoware_trajectory
	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_roundabout_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_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_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_agnocast_wrapper autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qos_utils autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_command_gate autoware_core_control autoware_simple_pure_pursuit autoware_awsim_sensor_kit_description autoware_sample_sensor_kit_description autoware_sample_vehicle_description 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

Version	1.9.0
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	2026-07-03
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The autoware_behavior_velocity_planner package

Maintainers

Zulfaqar Azmi
Mamoru Sobue
Takumi Odashima

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)

1.9.0 (2026-06-24)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
refactor(autoware_behavior_velocity_planner): extract node-agnostic data-ingestion helpers (#1114)

* refactor(autoware_behavior_velocity_planner): extract node-agnostic data-ingestion helpers Extract the byte-identical traffic-signal aggregation and velocity-buffer pruning logic that was copy-pasted between the legacy and experimental BehaviorVelocityPlannerNode variants into package-internal, node-agnostic free functions (data_processing::apply_traffic_signals and data_processing::prune_velocity_buffer). Both node variants now call one implementation, removing the duplicated logic from processOdometry/processTrafficSignals. The new free functions are pure transforms over PlannerData fields, which creates a unit-test seam that previously did not exist: the only test was a launch-style smoke test with zero scene plugins. Add gtests asserting the traffic-signal UNKNOWN-keep-last-observation contract (keep prior body, refresh timestamp; first UNKNOWN stored as-is) and the velocity-buffer time pruning (stale-from-back removal, exact-threshold boundary retention, future-stamp negative-time guard). This change is internal-only and behavior-preserving: no public node API, topics, or message types change. Refs: autowarefoundation/autoware_core#1096

* refactor(autoware_behavior_velocity_planner): add <deque> include and bump new-file copyright year Refs: autowarefoundation/autoware_core#1096 ---------
fix(planning): skip processing empty no_ground_pointcloud to avoid PCL warning spam (#1082)
Contributors: Mert Yavuz, Yutaka Kondo, github-actions

1.8.0 (2026-05-01)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
chore(planning, bvp): remove unused lanelet2_extension header (#902)
- remove unused lanelet2_extension in bvp modules
* remove unused lanelet2_extension in planning components ---------
fix(autoware_behavior_velocity_planner): fix bugprone-narrowing-conversions warnings (#939)
chore(bvp): port missing feature in behavior_velocity_planner's experimental version (#892) change tf2_ros to hpp header (616)
chore: organize maintainer (#857)
chore(planning, misc): remove unused header includes (#840)
Contributors: Mamoru Sobue, NorahXiong, Sarun MUKDAPITAK, Satoshi OTA, github-actions

1.7.0 (2026-02-14)

1.6.0 (2025-12-30)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
chore: tf2_ros to hpp headers (#616)
Contributors: Tim Clephas, github-actions

1.5.0 (2025-11-16)

Merge remote-tracking branch 'origin/main' into humble
feat: replace [ament_auto_package]{.title-ref} to [autoware_ament_auto_package]{.title-ref} (#700)
- replace ament_auto_package to autoware_ament_auto_package
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
feat(behavior_velocity_planner and

File truncated at 100 lines see the full file

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_map_msgs
	autoware_motion_utils
	autoware_perception_msgs
	autoware_planning_msgs
	autoware_route_handler
	autoware_trajectory
	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_roundabout_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_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_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_agnocast_wrapper autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qos_utils autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_command_gate autoware_core_control autoware_simple_pure_pursuit autoware_awsim_sensor_kit_description autoware_sample_sensor_kit_description autoware_sample_vehicle_description 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

Version	1.9.0
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	2026-07-03
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The autoware_behavior_velocity_planner package

Maintainers

Zulfaqar Azmi
Mamoru Sobue
Takumi Odashima

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)

1.9.0 (2026-06-24)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
refactor(autoware_behavior_velocity_planner): extract node-agnostic data-ingestion helpers (#1114)

* refactor(autoware_behavior_velocity_planner): extract node-agnostic data-ingestion helpers Extract the byte-identical traffic-signal aggregation and velocity-buffer pruning logic that was copy-pasted between the legacy and experimental BehaviorVelocityPlannerNode variants into package-internal, node-agnostic free functions (data_processing::apply_traffic_signals and data_processing::prune_velocity_buffer). Both node variants now call one implementation, removing the duplicated logic from processOdometry/processTrafficSignals. The new free functions are pure transforms over PlannerData fields, which creates a unit-test seam that previously did not exist: the only test was a launch-style smoke test with zero scene plugins. Add gtests asserting the traffic-signal UNKNOWN-keep-last-observation contract (keep prior body, refresh timestamp; first UNKNOWN stored as-is) and the velocity-buffer time pruning (stale-from-back removal, exact-threshold boundary retention, future-stamp negative-time guard). This change is internal-only and behavior-preserving: no public node API, topics, or message types change. Refs: autowarefoundation/autoware_core#1096

* refactor(autoware_behavior_velocity_planner): add <deque> include and bump new-file copyright year Refs: autowarefoundation/autoware_core#1096 ---------
fix(planning): skip processing empty no_ground_pointcloud to avoid PCL warning spam (#1082)
Contributors: Mert Yavuz, Yutaka Kondo, github-actions

1.8.0 (2026-05-01)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
chore(planning, bvp): remove unused lanelet2_extension header (#902)
- remove unused lanelet2_extension in bvp modules
* remove unused lanelet2_extension in planning components ---------
fix(autoware_behavior_velocity_planner): fix bugprone-narrowing-conversions warnings (#939)
chore(bvp): port missing feature in behavior_velocity_planner's experimental version (#892) change tf2_ros to hpp header (616)
chore: organize maintainer (#857)
chore(planning, misc): remove unused header includes (#840)
Contributors: Mamoru Sobue, NorahXiong, Sarun MUKDAPITAK, Satoshi OTA, github-actions

1.7.0 (2026-02-14)

1.6.0 (2025-12-30)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
chore: tf2_ros to hpp headers (#616)
Contributors: Tim Clephas, github-actions

1.5.0 (2025-11-16)

Merge remote-tracking branch 'origin/main' into humble
feat: replace [ament_auto_package]{.title-ref} to [autoware_ament_auto_package]{.title-ref} (#700)
- replace ament_auto_package to autoware_ament_auto_package
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
feat(behavior_velocity_planner and

File truncated at 100 lines see the full file

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_map_msgs
	autoware_motion_utils
	autoware_perception_msgs
	autoware_planning_msgs
	autoware_route_handler
	autoware_trajectory
	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_roundabout_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_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_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_agnocast_wrapper autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qos_utils autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_command_gate autoware_core_control autoware_simple_pure_pursuit autoware_awsim_sensor_kit_description autoware_sample_sensor_kit_description autoware_sample_vehicle_description 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

Version	1.9.0
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	2026-07-03
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The autoware_behavior_velocity_planner package

Maintainers

Zulfaqar Azmi
Mamoru Sobue
Takumi Odashima

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)

1.9.0 (2026-06-24)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
refactor(autoware_behavior_velocity_planner): extract node-agnostic data-ingestion helpers (#1114)

* refactor(autoware_behavior_velocity_planner): extract node-agnostic data-ingestion helpers Extract the byte-identical traffic-signal aggregation and velocity-buffer pruning logic that was copy-pasted between the legacy and experimental BehaviorVelocityPlannerNode variants into package-internal, node-agnostic free functions (data_processing::apply_traffic_signals and data_processing::prune_velocity_buffer). Both node variants now call one implementation, removing the duplicated logic from processOdometry/processTrafficSignals. The new free functions are pure transforms over PlannerData fields, which creates a unit-test seam that previously did not exist: the only test was a launch-style smoke test with zero scene plugins. Add gtests asserting the traffic-signal UNKNOWN-keep-last-observation contract (keep prior body, refresh timestamp; first UNKNOWN stored as-is) and the velocity-buffer time pruning (stale-from-back removal, exact-threshold boundary retention, future-stamp negative-time guard). This change is internal-only and behavior-preserving: no public node API, topics, or message types change. Refs: autowarefoundation/autoware_core#1096

* refactor(autoware_behavior_velocity_planner): add <deque> include and bump new-file copyright year Refs: autowarefoundation/autoware_core#1096 ---------
fix(planning): skip processing empty no_ground_pointcloud to avoid PCL warning spam (#1082)
Contributors: Mert Yavuz, Yutaka Kondo, github-actions

1.8.0 (2026-05-01)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
chore(planning, bvp): remove unused lanelet2_extension header (#902)
- remove unused lanelet2_extension in bvp modules
* remove unused lanelet2_extension in planning components ---------
fix(autoware_behavior_velocity_planner): fix bugprone-narrowing-conversions warnings (#939)
chore(bvp): port missing feature in behavior_velocity_planner's experimental version (#892) change tf2_ros to hpp header (616)
chore: organize maintainer (#857)
chore(planning, misc): remove unused header includes (#840)
Contributors: Mamoru Sobue, NorahXiong, Sarun MUKDAPITAK, Satoshi OTA, github-actions

1.7.0 (2026-02-14)

1.6.0 (2025-12-30)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
chore: tf2_ros to hpp headers (#616)
Contributors: Tim Clephas, github-actions

1.5.0 (2025-11-16)

Merge remote-tracking branch 'origin/main' into humble
feat: replace [ament_auto_package]{.title-ref} to [autoware_ament_auto_package]{.title-ref} (#700)
- replace ament_auto_package to autoware_ament_auto_package
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
feat(behavior_velocity_planner and

File truncated at 100 lines see the full file

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_map_msgs
	autoware_motion_utils
	autoware_perception_msgs
	autoware_planning_msgs
	autoware_route_handler
	autoware_trajectory
	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_roundabout_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_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_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_agnocast_wrapper autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qos_utils autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_command_gate autoware_core_control autoware_simple_pure_pursuit autoware_awsim_sensor_kit_description autoware_sample_sensor_kit_description autoware_sample_vehicle_description 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

Version	1.9.0
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	2026-07-03
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The autoware_behavior_velocity_planner package

Maintainers

Zulfaqar Azmi
Mamoru Sobue
Takumi Odashima

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)

1.9.0 (2026-06-24)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
refactor(autoware_behavior_velocity_planner): extract node-agnostic data-ingestion helpers (#1114)

* refactor(autoware_behavior_velocity_planner): extract node-agnostic data-ingestion helpers Extract the byte-identical traffic-signal aggregation and velocity-buffer pruning logic that was copy-pasted between the legacy and experimental BehaviorVelocityPlannerNode variants into package-internal, node-agnostic free functions (data_processing::apply_traffic_signals and data_processing::prune_velocity_buffer). Both node variants now call one implementation, removing the duplicated logic from processOdometry/processTrafficSignals. The new free functions are pure transforms over PlannerData fields, which creates a unit-test seam that previously did not exist: the only test was a launch-style smoke test with zero scene plugins. Add gtests asserting the traffic-signal UNKNOWN-keep-last-observation contract (keep prior body, refresh timestamp; first UNKNOWN stored as-is) and the velocity-buffer time pruning (stale-from-back removal, exact-threshold boundary retention, future-stamp negative-time guard). This change is internal-only and behavior-preserving: no public node API, topics, or message types change. Refs: autowarefoundation/autoware_core#1096

* refactor(autoware_behavior_velocity_planner): add <deque> include and bump new-file copyright year Refs: autowarefoundation/autoware_core#1096 ---------
fix(planning): skip processing empty no_ground_pointcloud to avoid PCL warning spam (#1082)
Contributors: Mert Yavuz, Yutaka Kondo, github-actions

1.8.0 (2026-05-01)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
chore(planning, bvp): remove unused lanelet2_extension header (#902)
- remove unused lanelet2_extension in bvp modules
* remove unused lanelet2_extension in planning components ---------
fix(autoware_behavior_velocity_planner): fix bugprone-narrowing-conversions warnings (#939)
chore(bvp): port missing feature in behavior_velocity_planner's experimental version (#892) change tf2_ros to hpp header (616)
chore: organize maintainer (#857)
chore(planning, misc): remove unused header includes (#840)
Contributors: Mamoru Sobue, NorahXiong, Sarun MUKDAPITAK, Satoshi OTA, github-actions

1.7.0 (2026-02-14)

1.6.0 (2025-12-30)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
chore: tf2_ros to hpp headers (#616)
Contributors: Tim Clephas, github-actions

1.5.0 (2025-11-16)

Merge remote-tracking branch 'origin/main' into humble
feat: replace [ament_auto_package]{.title-ref} to [autoware_ament_auto_package]{.title-ref} (#700)
- replace ament_auto_package to autoware_ament_auto_package
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
feat(behavior_velocity_planner and

File truncated at 100 lines see the full file

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_map_msgs
	autoware_motion_utils
	autoware_perception_msgs
	autoware_planning_msgs
	autoware_route_handler
	autoware_trajectory
	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_roundabout_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_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_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_agnocast_wrapper autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qos_utils autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_command_gate autoware_core_control autoware_simple_pure_pursuit autoware_awsim_sensor_kit_description autoware_sample_sensor_kit_description autoware_sample_vehicle_description 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

Version	1.9.0
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	2026-07-03
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The autoware_behavior_velocity_planner package

Maintainers

Zulfaqar Azmi
Mamoru Sobue
Takumi Odashima

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)

1.9.0 (2026-06-24)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
refactor(autoware_behavior_velocity_planner): extract node-agnostic data-ingestion helpers (#1114)

* refactor(autoware_behavior_velocity_planner): extract node-agnostic data-ingestion helpers Extract the byte-identical traffic-signal aggregation and velocity-buffer pruning logic that was copy-pasted between the legacy and experimental BehaviorVelocityPlannerNode variants into package-internal, node-agnostic free functions (data_processing::apply_traffic_signals and data_processing::prune_velocity_buffer). Both node variants now call one implementation, removing the duplicated logic from processOdometry/processTrafficSignals. The new free functions are pure transforms over PlannerData fields, which creates a unit-test seam that previously did not exist: the only test was a launch-style smoke test with zero scene plugins. Add gtests asserting the traffic-signal UNKNOWN-keep-last-observation contract (keep prior body, refresh timestamp; first UNKNOWN stored as-is) and the velocity-buffer time pruning (stale-from-back removal, exact-threshold boundary retention, future-stamp negative-time guard). This change is internal-only and behavior-preserving: no public node API, topics, or message types change. Refs: autowarefoundation/autoware_core#1096

* refactor(autoware_behavior_velocity_planner): add <deque> include and bump new-file copyright year Refs: autowarefoundation/autoware_core#1096 ---------
fix(planning): skip processing empty no_ground_pointcloud to avoid PCL warning spam (#1082)
Contributors: Mert Yavuz, Yutaka Kondo, github-actions

1.8.0 (2026-05-01)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
chore(planning, bvp): remove unused lanelet2_extension header (#902)
- remove unused lanelet2_extension in bvp modules
* remove unused lanelet2_extension in planning components ---------
fix(autoware_behavior_velocity_planner): fix bugprone-narrowing-conversions warnings (#939)
chore(bvp): port missing feature in behavior_velocity_planner's experimental version (#892) change tf2_ros to hpp header (616)
chore: organize maintainer (#857)
chore(planning, misc): remove unused header includes (#840)
Contributors: Mamoru Sobue, NorahXiong, Sarun MUKDAPITAK, Satoshi OTA, github-actions

1.7.0 (2026-02-14)

1.6.0 (2025-12-30)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
chore: tf2_ros to hpp headers (#616)
Contributors: Tim Clephas, github-actions

1.5.0 (2025-11-16)

Merge remote-tracking branch 'origin/main' into humble
feat: replace [ament_auto_package]{.title-ref} to [autoware_ament_auto_package]{.title-ref} (#700)
- replace ament_auto_package to autoware_ament_auto_package
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
feat(behavior_velocity_planner and

File truncated at 100 lines see the full file

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_map_msgs
	autoware_motion_utils
	autoware_perception_msgs
	autoware_planning_msgs
	autoware_route_handler
	autoware_trajectory
	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_roundabout_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_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_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_agnocast_wrapper autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qos_utils autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_command_gate autoware_core_control autoware_simple_pure_pursuit autoware_awsim_sensor_kit_description autoware_sample_sensor_kit_description autoware_sample_vehicle_description 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

Version	1.9.0
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	2026-07-03
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The autoware_behavior_velocity_planner package

Maintainers

Zulfaqar Azmi
Mamoru Sobue
Takumi Odashima

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)

1.9.0 (2026-06-24)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
refactor(autoware_behavior_velocity_planner): extract node-agnostic data-ingestion helpers (#1114)

* refactor(autoware_behavior_velocity_planner): extract node-agnostic data-ingestion helpers Extract the byte-identical traffic-signal aggregation and velocity-buffer pruning logic that was copy-pasted between the legacy and experimental BehaviorVelocityPlannerNode variants into package-internal, node-agnostic free functions (data_processing::apply_traffic_signals and data_processing::prune_velocity_buffer). Both node variants now call one implementation, removing the duplicated logic from processOdometry/processTrafficSignals. The new free functions are pure transforms over PlannerData fields, which creates a unit-test seam that previously did not exist: the only test was a launch-style smoke test with zero scene plugins. Add gtests asserting the traffic-signal UNKNOWN-keep-last-observation contract (keep prior body, refresh timestamp; first UNKNOWN stored as-is) and the velocity-buffer time pruning (stale-from-back removal, exact-threshold boundary retention, future-stamp negative-time guard). This change is internal-only and behavior-preserving: no public node API, topics, or message types change. Refs: autowarefoundation/autoware_core#1096

* refactor(autoware_behavior_velocity_planner): add <deque> include and bump new-file copyright year Refs: autowarefoundation/autoware_core#1096 ---------
fix(planning): skip processing empty no_ground_pointcloud to avoid PCL warning spam (#1082)
Contributors: Mert Yavuz, Yutaka Kondo, github-actions

1.8.0 (2026-05-01)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
chore(planning, bvp): remove unused lanelet2_extension header (#902)
- remove unused lanelet2_extension in bvp modules
* remove unused lanelet2_extension in planning components ---------
fix(autoware_behavior_velocity_planner): fix bugprone-narrowing-conversions warnings (#939)
chore(bvp): port missing feature in behavior_velocity_planner's experimental version (#892) change tf2_ros to hpp header (616)
chore: organize maintainer (#857)
chore(planning, misc): remove unused header includes (#840)
Contributors: Mamoru Sobue, NorahXiong, Sarun MUKDAPITAK, Satoshi OTA, github-actions

1.7.0 (2026-02-14)

1.6.0 (2025-12-30)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
chore: tf2_ros to hpp headers (#616)
Contributors: Tim Clephas, github-actions

1.5.0 (2025-11-16)

Merge remote-tracking branch 'origin/main' into humble
feat: replace [ament_auto_package]{.title-ref} to [autoware_ament_auto_package]{.title-ref} (#700)
- replace ament_auto_package to autoware_ament_auto_package
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
feat(behavior_velocity_planner and

File truncated at 100 lines see the full file

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_map_msgs
	autoware_motion_utils
	autoware_perception_msgs
	autoware_planning_msgs
	autoware_route_handler
	autoware_trajectory
	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_roundabout_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_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_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_agnocast_wrapper autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qos_utils autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_command_gate autoware_core_control autoware_simple_pure_pursuit autoware_awsim_sensor_kit_description autoware_sample_sensor_kit_description autoware_sample_vehicle_description 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

Version	1.9.0
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	2026-07-03
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The autoware_behavior_velocity_planner package

Maintainers

Zulfaqar Azmi
Mamoru Sobue
Takumi Odashima

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)

1.9.0 (2026-06-24)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
refactor(autoware_behavior_velocity_planner): extract node-agnostic data-ingestion helpers (#1114)

* refactor(autoware_behavior_velocity_planner): extract node-agnostic data-ingestion helpers Extract the byte-identical traffic-signal aggregation and velocity-buffer pruning logic that was copy-pasted between the legacy and experimental BehaviorVelocityPlannerNode variants into package-internal, node-agnostic free functions (data_processing::apply_traffic_signals and data_processing::prune_velocity_buffer). Both node variants now call one implementation, removing the duplicated logic from processOdometry/processTrafficSignals. The new free functions are pure transforms over PlannerData fields, which creates a unit-test seam that previously did not exist: the only test was a launch-style smoke test with zero scene plugins. Add gtests asserting the traffic-signal UNKNOWN-keep-last-observation contract (keep prior body, refresh timestamp; first UNKNOWN stored as-is) and the velocity-buffer time pruning (stale-from-back removal, exact-threshold boundary retention, future-stamp negative-time guard). This change is internal-only and behavior-preserving: no public node API, topics, or message types change. Refs: autowarefoundation/autoware_core#1096

* refactor(autoware_behavior_velocity_planner): add <deque> include and bump new-file copyright year Refs: autowarefoundation/autoware_core#1096 ---------
fix(planning): skip processing empty no_ground_pointcloud to avoid PCL warning spam (#1082)
Contributors: Mert Yavuz, Yutaka Kondo, github-actions

1.8.0 (2026-05-01)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
chore(planning, bvp): remove unused lanelet2_extension header (#902)
- remove unused lanelet2_extension in bvp modules
* remove unused lanelet2_extension in planning components ---------
fix(autoware_behavior_velocity_planner): fix bugprone-narrowing-conversions warnings (#939)
chore(bvp): port missing feature in behavior_velocity_planner's experimental version (#892) change tf2_ros to hpp header (616)
chore: organize maintainer (#857)
chore(planning, misc): remove unused header includes (#840)
Contributors: Mamoru Sobue, NorahXiong, Sarun MUKDAPITAK, Satoshi OTA, github-actions

1.7.0 (2026-02-14)

1.6.0 (2025-12-30)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
chore: tf2_ros to hpp headers (#616)
Contributors: Tim Clephas, github-actions

1.5.0 (2025-11-16)

Merge remote-tracking branch 'origin/main' into humble
feat: replace [ament_auto_package]{.title-ref} to [autoware_ament_auto_package]{.title-ref} (#700)
- replace ament_auto_package to autoware_ament_auto_package
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
feat(behavior_velocity_planner and

File truncated at 100 lines see the full file

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_map_msgs
	autoware_motion_utils
	autoware_perception_msgs
	autoware_planning_msgs
	autoware_route_handler
	autoware_trajectory
	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_roundabout_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_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_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_agnocast_wrapper autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qos_utils autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_command_gate autoware_core_control autoware_simple_pure_pursuit autoware_awsim_sensor_kit_description autoware_sample_sensor_kit_description autoware_sample_vehicle_description 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

Version	1.9.0
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	2026-07-03
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The autoware_behavior_velocity_planner package

Maintainers

Zulfaqar Azmi
Mamoru Sobue
Takumi Odashima

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)

1.9.0 (2026-06-24)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
refactor(autoware_behavior_velocity_planner): extract node-agnostic data-ingestion helpers (#1114)

* refactor(autoware_behavior_velocity_planner): extract node-agnostic data-ingestion helpers Extract the byte-identical traffic-signal aggregation and velocity-buffer pruning logic that was copy-pasted between the legacy and experimental BehaviorVelocityPlannerNode variants into package-internal, node-agnostic free functions (data_processing::apply_traffic_signals and data_processing::prune_velocity_buffer). Both node variants now call one implementation, removing the duplicated logic from processOdometry/processTrafficSignals. The new free functions are pure transforms over PlannerData fields, which creates a unit-test seam that previously did not exist: the only test was a launch-style smoke test with zero scene plugins. Add gtests asserting the traffic-signal UNKNOWN-keep-last-observation contract (keep prior body, refresh timestamp; first UNKNOWN stored as-is) and the velocity-buffer time pruning (stale-from-back removal, exact-threshold boundary retention, future-stamp negative-time guard). This change is internal-only and behavior-preserving: no public node API, topics, or message types change. Refs: autowarefoundation/autoware_core#1096

* refactor(autoware_behavior_velocity_planner): add <deque> include and bump new-file copyright year Refs: autowarefoundation/autoware_core#1096 ---------
fix(planning): skip processing empty no_ground_pointcloud to avoid PCL warning spam (#1082)
Contributors: Mert Yavuz, Yutaka Kondo, github-actions

1.8.0 (2026-05-01)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
chore(planning, bvp): remove unused lanelet2_extension header (#902)
- remove unused lanelet2_extension in bvp modules
* remove unused lanelet2_extension in planning components ---------
fix(autoware_behavior_velocity_planner): fix bugprone-narrowing-conversions warnings (#939)
chore(bvp): port missing feature in behavior_velocity_planner's experimental version (#892) change tf2_ros to hpp header (616)
chore: organize maintainer (#857)
chore(planning, misc): remove unused header includes (#840)
Contributors: Mamoru Sobue, NorahXiong, Sarun MUKDAPITAK, Satoshi OTA, github-actions

1.7.0 (2026-02-14)

1.6.0 (2025-12-30)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
chore: tf2_ros to hpp headers (#616)
Contributors: Tim Clephas, github-actions

1.5.0 (2025-11-16)

Merge remote-tracking branch 'origin/main' into humble
feat: replace [ament_auto_package]{.title-ref} to [autoware_ament_auto_package]{.title-ref} (#700)
- replace ament_auto_package to autoware_ament_auto_package
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
feat(behavior_velocity_planner and

File truncated at 100 lines see the full file

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_map_msgs
	autoware_motion_utils
	autoware_perception_msgs
	autoware_planning_msgs
	autoware_route_handler
	autoware_trajectory
	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_roundabout_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_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_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_agnocast_wrapper autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qos_utils autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_command_gate autoware_core_control autoware_simple_pure_pursuit autoware_awsim_sensor_kit_description autoware_sample_sensor_kit_description autoware_sample_vehicle_description 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

Version	1.9.0
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	2026-07-03
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The autoware_behavior_velocity_planner package

Maintainers

Zulfaqar Azmi
Mamoru Sobue
Takumi Odashima

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)

1.9.0 (2026-06-24)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
refactor(autoware_behavior_velocity_planner): extract node-agnostic data-ingestion helpers (#1114)

* refactor(autoware_behavior_velocity_planner): extract node-agnostic data-ingestion helpers Extract the byte-identical traffic-signal aggregation and velocity-buffer pruning logic that was copy-pasted between the legacy and experimental BehaviorVelocityPlannerNode variants into package-internal, node-agnostic free functions (data_processing::apply_traffic_signals and data_processing::prune_velocity_buffer). Both node variants now call one implementation, removing the duplicated logic from processOdometry/processTrafficSignals. The new free functions are pure transforms over PlannerData fields, which creates a unit-test seam that previously did not exist: the only test was a launch-style smoke test with zero scene plugins. Add gtests asserting the traffic-signal UNKNOWN-keep-last-observation contract (keep prior body, refresh timestamp; first UNKNOWN stored as-is) and the velocity-buffer time pruning (stale-from-back removal, exact-threshold boundary retention, future-stamp negative-time guard). This change is internal-only and behavior-preserving: no public node API, topics, or message types change. Refs: autowarefoundation/autoware_core#1096

* refactor(autoware_behavior_velocity_planner): add <deque> include and bump new-file copyright year Refs: autowarefoundation/autoware_core#1096 ---------
fix(planning): skip processing empty no_ground_pointcloud to avoid PCL warning spam (#1082)
Contributors: Mert Yavuz, Yutaka Kondo, github-actions

1.8.0 (2026-05-01)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
chore(planning, bvp): remove unused lanelet2_extension header (#902)
- remove unused lanelet2_extension in bvp modules
* remove unused lanelet2_extension in planning components ---------
fix(autoware_behavior_velocity_planner): fix bugprone-narrowing-conversions warnings (#939)
chore(bvp): port missing feature in behavior_velocity_planner's experimental version (#892) change tf2_ros to hpp header (616)
chore: organize maintainer (#857)
chore(planning, misc): remove unused header includes (#840)
Contributors: Mamoru Sobue, NorahXiong, Sarun MUKDAPITAK, Satoshi OTA, github-actions

1.7.0 (2026-02-14)

1.6.0 (2025-12-30)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
chore: tf2_ros to hpp headers (#616)
Contributors: Tim Clephas, github-actions

1.5.0 (2025-11-16)

Merge remote-tracking branch 'origin/main' into humble
feat: replace [ament_auto_package]{.title-ref} to [autoware_ament_auto_package]{.title-ref} (#700)
- replace ament_auto_package to autoware_ament_auto_package
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
feat(behavior_velocity_planner and

File truncated at 100 lines see the full file

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_map_msgs
	autoware_motion_utils
	autoware_perception_msgs
	autoware_planning_msgs
	autoware_route_handler
	autoware_trajectory
	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_roundabout_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_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_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_agnocast_wrapper autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qos_utils autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_command_gate autoware_core_control autoware_simple_pure_pursuit autoware_awsim_sensor_kit_description autoware_sample_sensor_kit_description autoware_sample_vehicle_description 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

Version	1.9.0
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	2026-07-03
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The autoware_behavior_velocity_planner package

Maintainers

Zulfaqar Azmi
Mamoru Sobue
Takumi Odashima

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)

1.9.0 (2026-06-24)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
refactor(autoware_behavior_velocity_planner): extract node-agnostic data-ingestion helpers (#1114)

* refactor(autoware_behavior_velocity_planner): extract node-agnostic data-ingestion helpers Extract the byte-identical traffic-signal aggregation and velocity-buffer pruning logic that was copy-pasted between the legacy and experimental BehaviorVelocityPlannerNode variants into package-internal, node-agnostic free functions (data_processing::apply_traffic_signals and data_processing::prune_velocity_buffer). Both node variants now call one implementation, removing the duplicated logic from processOdometry/processTrafficSignals. The new free functions are pure transforms over PlannerData fields, which creates a unit-test seam that previously did not exist: the only test was a launch-style smoke test with zero scene plugins. Add gtests asserting the traffic-signal UNKNOWN-keep-last-observation contract (keep prior body, refresh timestamp; first UNKNOWN stored as-is) and the velocity-buffer time pruning (stale-from-back removal, exact-threshold boundary retention, future-stamp negative-time guard). This change is internal-only and behavior-preserving: no public node API, topics, or message types change. Refs: autowarefoundation/autoware_core#1096

* refactor(autoware_behavior_velocity_planner): add <deque> include and bump new-file copyright year Refs: autowarefoundation/autoware_core#1096 ---------
fix(planning): skip processing empty no_ground_pointcloud to avoid PCL warning spam (#1082)
Contributors: Mert Yavuz, Yutaka Kondo, github-actions

1.8.0 (2026-05-01)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
chore(planning, bvp): remove unused lanelet2_extension header (#902)
- remove unused lanelet2_extension in bvp modules
* remove unused lanelet2_extension in planning components ---------
fix(autoware_behavior_velocity_planner): fix bugprone-narrowing-conversions warnings (#939)
chore(bvp): port missing feature in behavior_velocity_planner's experimental version (#892) change tf2_ros to hpp header (616)
chore: organize maintainer (#857)
chore(planning, misc): remove unused header includes (#840)
Contributors: Mamoru Sobue, NorahXiong, Sarun MUKDAPITAK, Satoshi OTA, github-actions

1.7.0 (2026-02-14)

1.6.0 (2025-12-30)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
chore: tf2_ros to hpp headers (#616)
Contributors: Tim Clephas, github-actions

1.5.0 (2025-11-16)

Merge remote-tracking branch 'origin/main' into humble
feat: replace [ament_auto_package]{.title-ref} to [autoware_ament_auto_package]{.title-ref} (#700)
- replace ament_auto_package to autoware_ament_auto_package
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
feat(behavior_velocity_planner and

File truncated at 100 lines see the full file

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_map_msgs
	autoware_motion_utils
	autoware_perception_msgs
	autoware_planning_msgs
	autoware_route_handler
	autoware_trajectory
	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_roundabout_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_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_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_agnocast_wrapper autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qos_utils autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_command_gate autoware_core_control autoware_simple_pure_pursuit autoware_awsim_sensor_kit_description autoware_sample_sensor_kit_description autoware_sample_vehicle_description 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

Version	1.9.0
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	2026-07-03
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The autoware_behavior_velocity_planner package

Maintainers

Zulfaqar Azmi
Mamoru Sobue
Takumi Odashima

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)

1.9.0 (2026-06-24)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
refactor(autoware_behavior_velocity_planner): extract node-agnostic data-ingestion helpers (#1114)

* refactor(autoware_behavior_velocity_planner): extract node-agnostic data-ingestion helpers Extract the byte-identical traffic-signal aggregation and velocity-buffer pruning logic that was copy-pasted between the legacy and experimental BehaviorVelocityPlannerNode variants into package-internal, node-agnostic free functions (data_processing::apply_traffic_signals and data_processing::prune_velocity_buffer). Both node variants now call one implementation, removing the duplicated logic from processOdometry/processTrafficSignals. The new free functions are pure transforms over PlannerData fields, which creates a unit-test seam that previously did not exist: the only test was a launch-style smoke test with zero scene plugins. Add gtests asserting the traffic-signal UNKNOWN-keep-last-observation contract (keep prior body, refresh timestamp; first UNKNOWN stored as-is) and the velocity-buffer time pruning (stale-from-back removal, exact-threshold boundary retention, future-stamp negative-time guard). This change is internal-only and behavior-preserving: no public node API, topics, or message types change. Refs: autowarefoundation/autoware_core#1096

* refactor(autoware_behavior_velocity_planner): add <deque> include and bump new-file copyright year Refs: autowarefoundation/autoware_core#1096 ---------
fix(planning): skip processing empty no_ground_pointcloud to avoid PCL warning spam (#1082)
Contributors: Mert Yavuz, Yutaka Kondo, github-actions

1.8.0 (2026-05-01)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
chore(planning, bvp): remove unused lanelet2_extension header (#902)
- remove unused lanelet2_extension in bvp modules
* remove unused lanelet2_extension in planning components ---------
fix(autoware_behavior_velocity_planner): fix bugprone-narrowing-conversions warnings (#939)
chore(bvp): port missing feature in behavior_velocity_planner's experimental version (#892) change tf2_ros to hpp header (616)
chore: organize maintainer (#857)
chore(planning, misc): remove unused header includes (#840)
Contributors: Mamoru Sobue, NorahXiong, Sarun MUKDAPITAK, Satoshi OTA, github-actions

1.7.0 (2026-02-14)

1.6.0 (2025-12-30)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
chore: tf2_ros to hpp headers (#616)
Contributors: Tim Clephas, github-actions

1.5.0 (2025-11-16)

Merge remote-tracking branch 'origin/main' into humble
feat: replace [ament_auto_package]{.title-ref} to [autoware_ament_auto_package]{.title-ref} (#700)
- replace ament_auto_package to autoware_ament_auto_package
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
feat(behavior_velocity_planner and

File truncated at 100 lines see the full file

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_map_msgs
	autoware_motion_utils
	autoware_perception_msgs
	autoware_planning_msgs
	autoware_route_handler
	autoware_trajectory
	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_roundabout_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_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_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_agnocast_wrapper autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qos_utils autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_command_gate autoware_core_control autoware_simple_pure_pursuit autoware_awsim_sensor_kit_description autoware_sample_sensor_kit_description autoware_sample_vehicle_description 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

Version	1.9.0
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	2026-07-03
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The autoware_behavior_velocity_planner package

Maintainers

Zulfaqar Azmi
Mamoru Sobue
Takumi Odashima

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)

1.9.0 (2026-06-24)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
refactor(autoware_behavior_velocity_planner): extract node-agnostic data-ingestion helpers (#1114)

* refactor(autoware_behavior_velocity_planner): extract node-agnostic data-ingestion helpers Extract the byte-identical traffic-signal aggregation and velocity-buffer pruning logic that was copy-pasted between the legacy and experimental BehaviorVelocityPlannerNode variants into package-internal, node-agnostic free functions (data_processing::apply_traffic_signals and data_processing::prune_velocity_buffer). Both node variants now call one implementation, removing the duplicated logic from processOdometry/processTrafficSignals. The new free functions are pure transforms over PlannerData fields, which creates a unit-test seam that previously did not exist: the only test was a launch-style smoke test with zero scene plugins. Add gtests asserting the traffic-signal UNKNOWN-keep-last-observation contract (keep prior body, refresh timestamp; first UNKNOWN stored as-is) and the velocity-buffer time pruning (stale-from-back removal, exact-threshold boundary retention, future-stamp negative-time guard). This change is internal-only and behavior-preserving: no public node API, topics, or message types change. Refs: autowarefoundation/autoware_core#1096

* refactor(autoware_behavior_velocity_planner): add <deque> include and bump new-file copyright year Refs: autowarefoundation/autoware_core#1096 ---------
fix(planning): skip processing empty no_ground_pointcloud to avoid PCL warning spam (#1082)
Contributors: Mert Yavuz, Yutaka Kondo, github-actions

1.8.0 (2026-05-01)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
chore(planning, bvp): remove unused lanelet2_extension header (#902)
- remove unused lanelet2_extension in bvp modules
* remove unused lanelet2_extension in planning components ---------
fix(autoware_behavior_velocity_planner): fix bugprone-narrowing-conversions warnings (#939)
chore(bvp): port missing feature in behavior_velocity_planner's experimental version (#892) change tf2_ros to hpp header (616)
chore: organize maintainer (#857)
chore(planning, misc): remove unused header includes (#840)
Contributors: Mamoru Sobue, NorahXiong, Sarun MUKDAPITAK, Satoshi OTA, github-actions

1.7.0 (2026-02-14)

1.6.0 (2025-12-30)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
chore: tf2_ros to hpp headers (#616)
Contributors: Tim Clephas, github-actions

1.5.0 (2025-11-16)

Merge remote-tracking branch 'origin/main' into humble
feat: replace [ament_auto_package]{.title-ref} to [autoware_ament_auto_package]{.title-ref} (#700)
- replace ament_auto_package to autoware_ament_auto_package
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
feat(behavior_velocity_planner and

File truncated at 100 lines see the full file

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_map_msgs
	autoware_motion_utils
	autoware_perception_msgs
	autoware_planning_msgs
	autoware_route_handler
	autoware_trajectory
	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_roundabout_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_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_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_agnocast_wrapper autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qos_utils autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_command_gate autoware_core_control autoware_simple_pure_pursuit autoware_awsim_sensor_kit_description autoware_sample_sensor_kit_description autoware_sample_vehicle_description 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

Version	1.9.0
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	2026-07-03
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The autoware_behavior_velocity_planner package

Maintainers

Zulfaqar Azmi
Mamoru Sobue
Takumi Odashima

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)

1.9.0 (2026-06-24)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
refactor(autoware_behavior_velocity_planner): extract node-agnostic data-ingestion helpers (#1114)

* refactor(autoware_behavior_velocity_planner): extract node-agnostic data-ingestion helpers Extract the byte-identical traffic-signal aggregation and velocity-buffer pruning logic that was copy-pasted between the legacy and experimental BehaviorVelocityPlannerNode variants into package-internal, node-agnostic free functions (data_processing::apply_traffic_signals and data_processing::prune_velocity_buffer). Both node variants now call one implementation, removing the duplicated logic from processOdometry/processTrafficSignals. The new free functions are pure transforms over PlannerData fields, which creates a unit-test seam that previously did not exist: the only test was a launch-style smoke test with zero scene plugins. Add gtests asserting the traffic-signal UNKNOWN-keep-last-observation contract (keep prior body, refresh timestamp; first UNKNOWN stored as-is) and the velocity-buffer time pruning (stale-from-back removal, exact-threshold boundary retention, future-stamp negative-time guard). This change is internal-only and behavior-preserving: no public node API, topics, or message types change. Refs: autowarefoundation/autoware_core#1096

* refactor(autoware_behavior_velocity_planner): add <deque> include and bump new-file copyright year Refs: autowarefoundation/autoware_core#1096 ---------
fix(planning): skip processing empty no_ground_pointcloud to avoid PCL warning spam (#1082)
Contributors: Mert Yavuz, Yutaka Kondo, github-actions

1.8.0 (2026-05-01)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
chore(planning, bvp): remove unused lanelet2_extension header (#902)
- remove unused lanelet2_extension in bvp modules
* remove unused lanelet2_extension in planning components ---------
fix(autoware_behavior_velocity_planner): fix bugprone-narrowing-conversions warnings (#939)
chore(bvp): port missing feature in behavior_velocity_planner's experimental version (#892) change tf2_ros to hpp header (616)
chore: organize maintainer (#857)
chore(planning, misc): remove unused header includes (#840)
Contributors: Mamoru Sobue, NorahXiong, Sarun MUKDAPITAK, Satoshi OTA, github-actions

1.7.0 (2026-02-14)

1.6.0 (2025-12-30)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
chore: tf2_ros to hpp headers (#616)
Contributors: Tim Clephas, github-actions

1.5.0 (2025-11-16)

Merge remote-tracking branch 'origin/main' into humble
feat: replace [ament_auto_package]{.title-ref} to [autoware_ament_auto_package]{.title-ref} (#700)
- replace ament_auto_package to autoware_ament_auto_package
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
feat(behavior_velocity_planner and

File truncated at 100 lines see the full file

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_map_msgs
	autoware_motion_utils
	autoware_perception_msgs
	autoware_planning_msgs
	autoware_route_handler
	autoware_trajectory
	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_roundabout_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_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_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_agnocast_wrapper autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qos_utils autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_command_gate autoware_core_control autoware_simple_pure_pursuit autoware_awsim_sensor_kit_description autoware_sample_sensor_kit_description autoware_sample_vehicle_description 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

Version	1.9.0
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	2026-07-03
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The autoware_behavior_velocity_planner package

Maintainers

Zulfaqar Azmi
Mamoru Sobue
Takumi Odashima

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)

1.9.0 (2026-06-24)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
refactor(autoware_behavior_velocity_planner): extract node-agnostic data-ingestion helpers (#1114)

* refactor(autoware_behavior_velocity_planner): extract node-agnostic data-ingestion helpers Extract the byte-identical traffic-signal aggregation and velocity-buffer pruning logic that was copy-pasted between the legacy and experimental BehaviorVelocityPlannerNode variants into package-internal, node-agnostic free functions (data_processing::apply_traffic_signals and data_processing::prune_velocity_buffer). Both node variants now call one implementation, removing the duplicated logic from processOdometry/processTrafficSignals. The new free functions are pure transforms over PlannerData fields, which creates a unit-test seam that previously did not exist: the only test was a launch-style smoke test with zero scene plugins. Add gtests asserting the traffic-signal UNKNOWN-keep-last-observation contract (keep prior body, refresh timestamp; first UNKNOWN stored as-is) and the velocity-buffer time pruning (stale-from-back removal, exact-threshold boundary retention, future-stamp negative-time guard). This change is internal-only and behavior-preserving: no public node API, topics, or message types change. Refs: autowarefoundation/autoware_core#1096

* refactor(autoware_behavior_velocity_planner): add <deque> include and bump new-file copyright year Refs: autowarefoundation/autoware_core#1096 ---------
fix(planning): skip processing empty no_ground_pointcloud to avoid PCL warning spam (#1082)
Contributors: Mert Yavuz, Yutaka Kondo, github-actions

1.8.0 (2026-05-01)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
chore(planning, bvp): remove unused lanelet2_extension header (#902)
- remove unused lanelet2_extension in bvp modules
* remove unused lanelet2_extension in planning components ---------
fix(autoware_behavior_velocity_planner): fix bugprone-narrowing-conversions warnings (#939)
chore(bvp): port missing feature in behavior_velocity_planner's experimental version (#892) change tf2_ros to hpp header (616)
chore: organize maintainer (#857)
chore(planning, misc): remove unused header includes (#840)
Contributors: Mamoru Sobue, NorahXiong, Sarun MUKDAPITAK, Satoshi OTA, github-actions

1.7.0 (2026-02-14)

1.6.0 (2025-12-30)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
chore: tf2_ros to hpp headers (#616)
Contributors: Tim Clephas, github-actions

1.5.0 (2025-11-16)

Merge remote-tracking branch 'origin/main' into humble
feat: replace [ament_auto_package]{.title-ref} to [autoware_ament_auto_package]{.title-ref} (#700)
- replace ament_auto_package to autoware_ament_auto_package
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
feat(behavior_velocity_planner and

File truncated at 100 lines see the full file

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_map_msgs
	autoware_motion_utils
	autoware_perception_msgs
	autoware_planning_msgs
	autoware_route_handler
	autoware_trajectory
	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_roundabout_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_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_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_agnocast_wrapper autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qos_utils autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_command_gate autoware_core_control autoware_simple_pure_pursuit autoware_awsim_sensor_kit_description autoware_sample_sensor_kit_description autoware_sample_vehicle_description 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

Version	1.9.0
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	2026-07-03
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The autoware_behavior_velocity_planner package

Maintainers

Zulfaqar Azmi
Mamoru Sobue
Takumi Odashima

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)

1.9.0 (2026-06-24)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
refactor(autoware_behavior_velocity_planner): extract node-agnostic data-ingestion helpers (#1114)

* refactor(autoware_behavior_velocity_planner): extract node-agnostic data-ingestion helpers Extract the byte-identical traffic-signal aggregation and velocity-buffer pruning logic that was copy-pasted between the legacy and experimental BehaviorVelocityPlannerNode variants into package-internal, node-agnostic free functions (data_processing::apply_traffic_signals and data_processing::prune_velocity_buffer). Both node variants now call one implementation, removing the duplicated logic from processOdometry/processTrafficSignals. The new free functions are pure transforms over PlannerData fields, which creates a unit-test seam that previously did not exist: the only test was a launch-style smoke test with zero scene plugins. Add gtests asserting the traffic-signal UNKNOWN-keep-last-observation contract (keep prior body, refresh timestamp; first UNKNOWN stored as-is) and the velocity-buffer time pruning (stale-from-back removal, exact-threshold boundary retention, future-stamp negative-time guard). This change is internal-only and behavior-preserving: no public node API, topics, or message types change. Refs: autowarefoundation/autoware_core#1096

* refactor(autoware_behavior_velocity_planner): add <deque> include and bump new-file copyright year Refs: autowarefoundation/autoware_core#1096 ---------
fix(planning): skip processing empty no_ground_pointcloud to avoid PCL warning spam (#1082)
Contributors: Mert Yavuz, Yutaka Kondo, github-actions

1.8.0 (2026-05-01)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
chore(planning, bvp): remove unused lanelet2_extension header (#902)
- remove unused lanelet2_extension in bvp modules
* remove unused lanelet2_extension in planning components ---------
fix(autoware_behavior_velocity_planner): fix bugprone-narrowing-conversions warnings (#939)
chore(bvp): port missing feature in behavior_velocity_planner's experimental version (#892) change tf2_ros to hpp header (616)
chore: organize maintainer (#857)
chore(planning, misc): remove unused header includes (#840)
Contributors: Mamoru Sobue, NorahXiong, Sarun MUKDAPITAK, Satoshi OTA, github-actions

1.7.0 (2026-02-14)

1.6.0 (2025-12-30)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
chore: tf2_ros to hpp headers (#616)
Contributors: Tim Clephas, github-actions

1.5.0 (2025-11-16)

Merge remote-tracking branch 'origin/main' into humble
feat: replace [ament_auto_package]{.title-ref} to [autoware_ament_auto_package]{.title-ref} (#700)
- replace ament_auto_package to autoware_ament_auto_package
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
feat(behavior_velocity_planner and

File truncated at 100 lines see the full file

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_map_msgs
	autoware_motion_utils
	autoware_perception_msgs
	autoware_planning_msgs
	autoware_route_handler
	autoware_trajectory
	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_roundabout_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_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

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autoware_behavior_velocity_planner package from autoware_core repo

autoware_adapi_adaptors autoware_adapi_specs autoware_core_api autoware_default_adapi autoware_core autoware_agnocast_wrapper autoware_component_interface_specs autoware_geography_utils autoware_global_parameter_loader autoware_interpolation autoware_kalman_filter autoware_lanelet2_utils autoware_marker_utils autoware_motion_utils autoware_node autoware_object_recognition_utils autoware_osqp_interface autoware_point_types autoware_qos_utils autoware_qp_interface autoware_signal_processing autoware_trajectory autoware_vehicle_info_utils autoware_command_gate autoware_core_control autoware_simple_pure_pursuit autoware_awsim_sensor_kit_description autoware_sample_sensor_kit_description autoware_sample_vehicle_description 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

Version	1.9.0
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	2026-07-03
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The autoware_behavior_velocity_planner package

Maintainers

Zulfaqar Azmi
Mamoru Sobue
Takumi Odashima

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)

1.9.0 (2026-06-24)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
refactor(autoware_behavior_velocity_planner): extract node-agnostic data-ingestion helpers (#1114)

* refactor(autoware_behavior_velocity_planner): extract node-agnostic data-ingestion helpers Extract the byte-identical traffic-signal aggregation and velocity-buffer pruning logic that was copy-pasted between the legacy and experimental BehaviorVelocityPlannerNode variants into package-internal, node-agnostic free functions (data_processing::apply_traffic_signals and data_processing::prune_velocity_buffer). Both node variants now call one implementation, removing the duplicated logic from processOdometry/processTrafficSignals. The new free functions are pure transforms over PlannerData fields, which creates a unit-test seam that previously did not exist: the only test was a launch-style smoke test with zero scene plugins. Add gtests asserting the traffic-signal UNKNOWN-keep-last-observation contract (keep prior body, refresh timestamp; first UNKNOWN stored as-is) and the velocity-buffer time pruning (stale-from-back removal, exact-threshold boundary retention, future-stamp negative-time guard). This change is internal-only and behavior-preserving: no public node API, topics, or message types change. Refs: autowarefoundation/autoware_core#1096

* refactor(autoware_behavior_velocity_planner): add <deque> include and bump new-file copyright year Refs: autowarefoundation/autoware_core#1096 ---------
fix(planning): skip processing empty no_ground_pointcloud to avoid PCL warning spam (#1082)
Contributors: Mert Yavuz, Yutaka Kondo, github-actions

1.8.0 (2026-05-01)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
chore(planning, bvp): remove unused lanelet2_extension header (#902)
- remove unused lanelet2_extension in bvp modules
* remove unused lanelet2_extension in planning components ---------
fix(autoware_behavior_velocity_planner): fix bugprone-narrowing-conversions warnings (#939)
chore(bvp): port missing feature in behavior_velocity_planner's experimental version (#892) change tf2_ros to hpp header (616)
chore: organize maintainer (#857)
chore(planning, misc): remove unused header includes (#840)
Contributors: Mamoru Sobue, NorahXiong, Sarun MUKDAPITAK, Satoshi OTA, github-actions

1.7.0 (2026-02-14)

1.6.0 (2025-12-30)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
chore: tf2_ros to hpp headers (#616)
Contributors: Tim Clephas, github-actions

1.5.0 (2025-11-16)

Merge remote-tracking branch 'origin/main' into humble
feat: replace [ament_auto_package]{.title-ref} to [autoware_ament_auto_package]{.title-ref} (#700)
- replace ament_auto_package to autoware_ament_auto_package
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
feat(behavior_velocity_planner and

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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_map_msgs
	autoware_motion_utils
	autoware_perception_msgs
	autoware_planning_msgs
	autoware_route_handler
	autoware_trajectory
	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_roundabout_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_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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