Goal Planner design

Purpose / Role

goal_planner generates a smooth path toward the goal and additionally searches for safe path and goal to execute dynamic pull_over on the road shoulders lanes following the traffic rules.

Design

If goal modification is not allowed, just park at the designated fixed goal using fixed_goal_planner.

If allowed, rough_goal_planner works to park around the vacant spots in the shoulder lanes around the goal by executing pull_over toward left or right side of the road lanes.

@startuml
package goal_planner{

    class GoalPlannerModule {}

    package rough_goal_planner <<Rectangle>>{

        package lane_parking <<Rectangle>>{
            class ShiftPullOver {}
            class GeometricPullOver {}
        }

        package freespace_parking <<Rectangle>>{
            class FreeSpacePullOver {}
        }

        class GoalSearcher {}

        struct GoalCandidates {}
        struct PullOverPath{}

        abstract class PullOverPlannerBase {}
    }

    package fixed_goal_planner <<Rectangle>>{
        abstract class FixedGoalPlannerBase {}
        class DefaultFixedPlanner{}
    }
}


package utils{
    class PathShifter {}

    class GeometricParallelParking {}
}

package freespace_planning_algorithms
 {
    class AstarSearch{}
    class RRTStar{}
}

' goal planner
ShiftPullOver --|> PullOverPlannerBase
GeometricPullOver --|> PullOverPlannerBase
FreeSpacePullOver --|> PullOverPlannerBase
DefaultFixedPlanner --|> FixedGoalPlannerBase

PathShifter --o ShiftPullOver
GeometricParallelParking --o GeometricPullOver
AstarSearch --o FreeSpacePullOver
RRTStar --o FreeSpacePullOver

PullOverPlannerBase --o GoalPlannerModule
FixedGoalPlannerBase --o GoalPlannerModule

PullOverPath --o PullOverPlannerBase

@enduml

trigger condition

fixed_goal_planner

fixed_goal_planner just plans a smooth path to the designated goal. NOTE: this planner does not perform the several features described below, such as “goal search”, “collision check”, “safety check”, etc.

fixed_goal_planner is used when both conditions are met.

• Route is set with allow_goal_modification=false. This is the default.
• The goal is set on road lanes.

If the path given to goal_planner covers the goal, fixed_goal_planner smoothly connects the goal and the path points around the goal within the radius of refine_goal_search_radius_range using spline interpolation.

rough_goal_planner

pull over on road lane

rough_goal_planner is triggered following the behavior_path_planner scene module interface namely through isExecutionRequested function and it returns true when following two conditions are met.

• The distance between the goal and ego get shorter than $\max$(pull_over_minimum_request_length, stop distance with decel and jerk constraints).

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Changelog for package autoware_behavior_path_goal_planner_module

0.53.0 (2026-09-29)

• Merge remote-tracking branch 'origin/main' into prepare-0.53.0-changelog

• chore(pre-commit): update clang-format to v22.1.5 (#13126)

  • chore(pre-commit): update clang-format to v22.1.5

  * style(pre-commit): autofix ---------

• Contributors: Mete Fatih Cırıt, Ryohsuke Mitsudome

0.52.0 (2026-06-30)

• Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base

• fix(goal_planner): use resampled_arc_path (#12690)

• feat(autoware_vehicle_info_utils): refactor to use createFootprint with base_pose (#12586)

  • refactor universe_utils to transform in createFootprint
  • refactor mission_universe_planner to transform in createFootprint
  • refactor path_optimizer to transform in createFootprint
  • common-evaluator refactor createFootprint to apply base_link internally
  • bpp refactor createFootprint to apply base_link internally

  * bvp refactor createFootprint to apply base_link internally ---------

• Contributors: Mehmet Emin BAŞOĞLU, Sarun MUKDAPITAK, github-actions

0.51.0 (2026-05-01)

• Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base

• refactor(boundary_departure_checker): deprecate legacy rule-based boundary departure checker (#12420) refactor: separate bdp

• fix(goal_planner): prevent crash when output path is empty (#12284)

• chore(behavior_path_planner): remove unused lanelet2_extension header (#12292) unused lanelet2_extension in bpp modules Co-authored-by: Mamoru Sobue <<hilo.soblin@gmail.com>>

• feat(lanelet2_extension): replace ported lanelet2_extension utilities functions (final) (#12173) Co-authored-by: Mamoru Sobue <<hilo.soblin@gmail.com>>

• fix(goal_planner): fix node dead issue (#12177) fix issue

• refactor(planning): replace toGeomMsg/toLaneletPoint to autoware_lanelet2_utils in lane_change/goal_planner (#12080) refactor(behavior_path_planner): deprecate toLaneletPoint/toGeomPt in lane_change/goal_planner

• feat(autoware_lanelet2_extension): replace remaining lanelet2_extension utilities functions - bpp packages (#12085)

  • replace getArcCoordinates in bpp packages
  • replace getArcCoordinates usage in bpp packages (2)

  * replace getArcCoordinates in bpp package (3) (autoware_behavior_path_goal_planner_module)

  * replace getArcCoordinates in bpp package(4) (autoware_behavior_path_start_planner_module)

  • replace getLateralDistanceToClosestLanelet in bpp package
  • replace getExpandedLanelet(s) in bpp package
  • replace combineLaneletsShape in bpp packages
  • fix wrong condition in bpp
  • style(pre-commit): autofix
  • remove directly dereference opt for combine_lanelet
  • remove log if lanelet is empty
  • bind reference to optional value for combine_lanelets_shape
  • remove log and simply return outside else in get_dirty_expanded_lanelets opt

  * remove .has_value in lane_change_module for consistency

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