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)

1.3.0 (2025-06-23)

• fix: to be consistent version in all package.xml(s)

• feat(autoware_motion_velocity_planner)!: only wait for the required subscriptions (#505) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

• fix(autoware_motion_velocity_obstacle_stop_module): point-cloud points ahead of the terminal stop-point (#502)

  • fix
  • moved resample_trajectory_points to non-anonymous status
  • style(pre-commit): autofix

  * fix

  Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

• fix(autoware_motion_velocity_obstacle_stop_module): fix for mishandling lateral-distance (#452)

  • Fix for mishandling lateral-distance
  • fix
  • style(pre-commit): autofix
  • fix
  • fix
  • fix
  • style(pre-commit): autofix
  • fix
  • style(pre-commit): autofix

  * Update planning/motion_velocity_planner/autoware_motion_velocity_planner_common/src/utils.cpp Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>> ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

• fix(autoware_motion_velocity_planner_common): fix deprecated autoware_utils header (#445)

  • fix autoware_utils header
  • style(pre-commit): autofix

  * add missing header ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

• chore: bump up version to 1.1.0 (#462) (#464)

• feat(autoware_motion_velocity_planner): point-cloud clustering optimization (#409)

  • Core changes for point-cloud maksing and clustering
  • fix
  • style(pre-commit): autofix

  * Update planning/motion_velocity_planner/autoware_motion_velocity_planner_common/include/autoware/motion_velocity_planner_common/planner_data.hpp Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

  * fix

  Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

• Contributors: Arjun Jagdish Ram, Masaki Baba, Ryohsuke Mitsudome, Yutaka Kondo, github-actions

1.0.0 (2025-03-31)

• chore: update version in package.xml

• feat: autoware_motion_velocity_planner and autoware_motion_velocity_planner_common to core (#242)

  • feat: modify autoware_universe_utils to autoware_utils
  • feat: remove useless dependecy
  • style(pre-commit): autofix
  • feat: modify autoware_universe_utils to autoware_utils
  • feat: autoware_motion_velocity_planner_node to core
  • style(pre-commit): autofix
  • feat: autoware_motion_velocity_planner_node to core
  • feat: modify autoware_universe_utils to autoware_utils

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