Motion Velocity Planner Common

This package provides common utilities and data structures for the motion velocity planner in the Autoware system. It contains tools for geometric calculations, trajectory processing, and velocity planning results.

Overview

Package motion velocity planner is responsible for generating velocity profiles for autonomous vehicles based on the current trajectory and environment. This package autoware_motion_velocity_planner_common contains essential utilities and structures that support the planning process, including:

• Geometric operations for polygons and trajectories.
• General utilities for trajectory processing and visualization.
• Data structures for storing velocity planning results.

Design

Key Components

1. Polygon Utilities (polygon_utils.hpp) This component provides functions for handling geometric polygons related to motion planning. It includes:
   • Collision detection between trajectories and obstacles.
   • Creation of polygons representing the vehicle’s trajectory at different time steps.
   • Geometric calculations using Boost Geometry.
2. General Utilities (utils.hpp) This component provides various utility functions, including:
   • Conversion between point representations (e.g., pcl::PointXYZ to geometry_msgs::msg::Point).
   • Distance calculations between trajectory points and obstacles.
   • Functions for concatenating vectors and processing trajectories.
   • Visualization tools for creating markers.
3. Velocity Planning Results (velocity_planning_result.hpp) This component defines data structures for storing the results of velocity planning, including:
   • SlowdownInterval: Represents a segment where the vehicle should slow down, with specified start and end points and velocity.
   • VelocityPlanningResult: Contains a collection of stop points, slowdown intervals, and optional velocity limits and clear commands.

Usage

Including the Package

To use this package in your project, you need to include it in your CMakeLists.txt:

find_package(autoware_motion_velocity_planner_common REQUIRED)

Example Usage

Here’s a simple example demonstrating the use of the utility functions:

#include "autoware/motion_velocity_planner_common/utils.hpp"

const auto decimated_traj_points = autoware::motion_velocity_planner::utils::decimate_trajectory_points_from_ego(
    traj_points, current_pose, ego_nearest_dist_threshold, ego_nearest_yaw_threshold,
    p.decimate_trajectory_step_length, 0.0);

this example is from autoware_universe/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_cruise_module/src/obstacle_cruise_module.cpp

Changelog for package autoware_motion_velocity_planner_common

1.1.0 (2025-05-01)

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(motion_velocity_planner_common): search closest collision point insead of first collision index (#699)

• feat(polygon_utils): move calculate_error_poses to header file (#676) calculate_error_poses to public

• feat(motion_velocity_planner): update pointcloud preprocess (#631)

• refactor(motion_velocity_planner_common): separation of cache and polygon functions (#628) refactor cache

• feat(obstacle_stop_module, motion_velocity_planner_common): add safety_factor to obstacle_stop module (#572) add safety factor, add planning_factor test

• chore(mvp_planner_common): add docstrings for PlannerData:::object (#615)

• feat(motion_velocity_planner_common): lateral margin adjustment for the ego's curvature and target obstacle motion (#619)

  * add additonal off-track featureuki.takagi@tier4.jp> ---------Co-authored-by: Junya Sasaki <<j2sasaki1990@gmail.com>>

• feat(obstacle_stop): enable object specified obstacle_filtering parameter and refactor obstacle type handling (#613)

  * refactor obstacle_filtering structure and type handling ---------

• fix(obstacle_stop): fix bug for the backwoard motions (#617) fix back stop

• chore: bump version (1.4.0) and update changelog (#608)

• Contributors: Kotakku, Mamoru Sobue, Mete Fatih Cırıt, Yuki TAKAGI, Yutaka Kondo, mitsudome-r

1.4.0 (2025-08-11)

• Merge remote-tracking branch 'origin/main' into humble

• refactor(mvp_common): add docstrings and comments (#600)

• feat(motion_velocity_planner, motion_velocity_planner_common): update pointcloud preprocess design (#591)

  * updare pcl preprocess ---------

• refactor(motion_velocity_planner): restrict copy of planner_data (#587)

  * restrict plannar data copy ---------

• fix(obstacle_stop): fix the brief stop decision logic (#583)

• chore: bump version to 1.3.0 (#554)

• chore: apply pre-commit fix (#574)

• feat(motion_utils): update insert orientation function to use tangent direction of a spline cruve (#556)

  • update insertOrientationSpline()
  • update test

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