Control Validator

Package Summary

Tags	No category tags.
Version	0.47.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/autowarefoundation/autoware_universe.git
VCS Type	git
VCS Version	main
Last Updated	2025-08-16
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ros node for autoware_control_validator

Additional Links

No additional links.

Maintainers

Kyoichi Sugahara
Makoto Kurihara
Mamoru Sobue
Takayuki Murooka
Yuki Takagi

Authors

Kyoichi Sugahara
Takamasa Horibe
Makoto Kurihara

Control Validator

The control_validator is a module that checks the validity of the output of the control component. The status of the validation can be viewed in the /diagnostics topic.

control_validator

Supported features

The following features are supported for the validation and can have thresholds set by parameters. The listed features below does not always correspond to the latest implementation.

Description	Arguments	Diagnostic equation
Inverse velocity: Measured velocity has a different sign from the target velocity.	measured velocity $v$, target velocity $\hat{v}$, and velocity parameter $c$	$v \hat{v} < 0, \quad \lvert v \rvert > c$
Overspeed: Measured speed exceeds target speed significantly.	measured velocity $v$, target velocity $\hat{v}$, ratio parameter $r$, and offset parameter $c$	$\lvert v \rvert > (1 + r) \lvert \hat{v} \rvert + c$
Overrun estimation: estimate overrun even if decelerate by assumed rate.	assumed deceleration, assumed delay

Lateral jerk : invalid when the lateral jerk exceeds the configured threshold. The validation uses the vehicle’s velocity and steering angle rate to calculate the resulting lateral jerk. The calculation assumes constant velocity (acceleration is zero).
Deviation check between reference trajectory and predicted trajectory : invalid when the largest deviation between the predicted trajectory and reference trajectory is greater than the given threshold.
Yaw deviation: invalid when the difference between the yaw of the ego vehicle and the nearest (interpolated) trajectory yaw is greater than the given threshold.
- 2 thresholds are implemented, one to trigger a warning diagnostic, and one to trigger an error diagnostic.

trajectory_deviation

Inputs/Outputs

Inputs

The control_validator takes in the following inputs:

Name	Type	Description
`~/input/kinematics`	nav_msgs/Odometry	ego pose and twist
`~/input/reference_trajectory`	autoware_planning_msgs/Trajectory	reference trajectory which is outputted from planning module to to be followed
`~/input/predicted_trajectory`	autoware_planning_msgs/Trajectory	predicted trajectory which is outputted from control module

Outputs

It outputs the following:

Name	Type	Description
`~/output/validation_status`	control_validator/ControlValidatorStatus	validator status to inform the reason why the trajectory is valid/invalid
`/diagnostics`	diagnostic_msgs/DiagnosticStatus	diagnostics to report errors

Parameters

The following parameters can be set for the control_validator:

System parameters

Name	Type	Description	Default value
`publish_diag`	bool	if true, diagnostics msg is published.	true
`diag_error_count_threshold`	int	the Diag will be set to ERROR when the number of consecutive invalid trajectory exceeds this threshold. (For example, threshold = 1 means, even if the trajectory is invalid, the Diag will not be ERROR if the next trajectory is valid.)	true
`display_on_terminal`	bool	show error msg on terminal	true

Algorithm parameters

Thresholds

The input trajectory is detected as invalid if the index exceeds the following thresholds.

Name	Type	Description	Default value
`thresholds.max_distance_deviation`	double	invalid threshold of the max distance deviation between the predicted path and the reference trajectory [m]	1.0
`thresholds.lateral_jerk`	double	invalid threshold of the lateral jerk for steering rate validation [m/s^3]	10.0
`thresholds.rolling_back_velocity`	double	threshold velocity to validate the vehicle velocity [m/s]	0.5
`thresholds.over_velocity_offset`	double	threshold velocity offset to validate the vehicle velocity [m/s]	2.0
`thresholds.over_velocity_ratio`	double	threshold ratio to validate the vehicle velocity [*]	0.2
`thresholds.overrun_stop_point_dist`	double	threshold distance to overrun stop point [m]	0.8
`thresholds.acc_error_offset`	double	threshold ratio to validate the vehicle acceleration [*]	0.8
`thresholds.acc_error_scale`	double	threshold acceleration to validate the vehicle acceleration [m]	0.2
`thresholds.will_overrun_stop_point_dist`	double	threshold distance to overrun stop point [m]	1.0
`thresholds.assumed_limit_acc`	double	assumed acceleration for over run estimation [m]	5.0
`thresholds.assumed_delay_time`	double	assumed delay for over run estimation [m]	0.2
`thresholds.yaw_deviation_error`	double	threshold angle to validate the vehicle yaw related to the nearest trajectory yaw [rad]	1.0
`thresholds.yaw_deviation_warn`	double	threshold angle to trigger a WARN diagnostic [rad]	0.5

CHANGELOG

Changelog for package autoware_control_validator

0.47.0 (2025-08-11)

feat: change planning output topic name to /planning/trajectory (#11135)
- change planning output topic name to /planning/trajectory
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
fix(planning_validator): init validation status (#11119)
- fix(planning_validator): init validation status
* fix(control_validator): init validation status ---------
style(pre-commit): update to clang-format-20 (#11088) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
feat(control_validator): enhance trajectory validation with previous reference trajectory (#10939)
- feat(control_validator): enhance trajectory validation with previous reference trajectory
* fix(test_control_validator): update lateral deviation test cases to reflect validation status ---------
fix(autoware_control_validator): prevent division by zero in time calculation (#10926)
- fix(lateral_jerk_validator): prevent division by zero in time calculation
* fix(lateral_jerk_validator): improve stability by enforcing minimum time difference for calculations ---------
feat(control_validator): disable control validator error report when not in autonomous control (#10871)
- feat(control_validator): disable control validator error report when not in autonomous control
- also fix control validator launch
- fix: work with yaw validator; fix yaw validator missing in all valid; add a debug info
- chore: get rid of the yaw warn in is_all_valid
* chore: fix topic remapping in launch file ---------
feat(control_validator): 2 thresholds for the yaw deviation (warn/error) (#10876)
feat(control_validator): add yaw_deviation (#10872)
Contributors: Kyoichi Sugahara, Maxime CLEMENT, Mete Fatih Cırıt, Satoshi OTA, Yukihiro Saito, Yuxuan Liu

0.46.0 (2025-06-20)

0.45.0 (2025-05-22)

Merge remote-tracking branch 'origin/main' into tmp/notbot/bump_version_base
feat(control_validator): add lateral jerk validation (#10619)
- feat(control_validator): add steering rate validation and update parameters
- feat(lateral_jerk_validator): rename and implement lateral jerk validation logic
- Steering rate validation has been renamed to lateral jerk validation for clarity.
- Updated the comment to assume constant velocity and adjusted related parameters. ---------
refactor(control_validator): visualize stop reason to virtual wall (#10593)
- feat(control_validator): add error message generation based on validation status
- feat(control_validator): update push_virtual_wall method to include message display
* refactor(control_validator): update error messages for clarity in generate_error_message method ---------
chore(control_validator): update maintainer

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	rosidl_default_generators
	ament_cmake_auto
	autoware_cmake
	rosidl_default_runtime
	ament_cmake_ros
	ament_index_cpp
	ament_lint_auto
	autoware_lint_common
	autoware_test_utils
	autoware_adapi_specs
	autoware_control_msgs
	autoware_motion_utils
	autoware_planning_msgs
	autoware_signal_processing
	autoware_utils
	autoware_vehicle_info_utils
	diagnostic_updater
	geometry_msgs
	nav_msgs
	rclcpp
	rclcpp_components
	visualization_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

launch/control_validator.launch.xml
- - control_validator_param_path [default: $(find-pkg-share autoware_control_validator)/config/control_validator.param.yaml]
  - input_reference_trajectory [default: /planning/trajectory]
  - input_predicted_trajectory [default: /control/trajectory_follower/lateral/predicted_trajectory]
  - input_operational_mode_state [default: /api/operation_mode/state]

Messages

msg/ControlValidatorStatus.msg

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_control_validator` at Robotics Stack Exchange

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

autoware_control_validator package from autoware_universe repo

autoware_agnocast_wrapper autoware_auto_common autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_component_interface_tools autoware_component_interface_utils autoware_cuda_dependency_meta autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_path_distance_calculator autoware_polar_grid autoware_time_utils autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_command_gate autoware_control_performance_analysis autoware_control_validator autoware_external_cmd_selector autoware_joy_controller autoware_lane_departure_checker autoware_mpc_lateral_controller autoware_obstacle_collision_checker autoware_operation_mode_transition_manager autoware_pid_longitudinal_controller autoware_predicted_path_checker autoware_pure_pursuit autoware_shift_decider autoware_smart_mpc_trajectory_follower autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_control_evaluator autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples tier4_autoware_api_launch tier4_control_launch tier4_localization_launch tier4_map_launch tier4_perception_launch tier4_planning_launch tier4_sensing_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose2twist autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion autoware_bytetrack autoware_cluster_merger autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_range_splitter autoware_object_sorter autoware_object_velocity_splitter autoware_occupancy_grid_map_outlier_filter autoware_probabilistic_occupancy_grid_map autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_run_out_module autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_boundary_departure_prevention_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_diagnostics autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_livox_tag_filter autoware_carla_interface autoware_dummy_perception_publisher autoware_fault_injection autoware_learning_based_vehicle_model autoware_simple_planning_simulator autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_bluetooth_monitor autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_monitor autoware_component_state_monitor autoware_adapi_visualizers autoware_automatic_pose_initializer autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_utils autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_duplicated_node_checker autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor reaction_analyzer autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_traffic_light_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_datetime_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_system_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

ROS Distro
github

Package Summary

Tags	No category tags.
Version	0.47.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/autowarefoundation/autoware_universe.git
VCS Type	git
VCS Version	main
Last Updated	2025-08-16
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ros node for autoware_control_validator

Additional Links

No additional links.

Maintainers

Kyoichi Sugahara
Makoto Kurihara
Mamoru Sobue
Takayuki Murooka
Yuki Takagi

Authors

Kyoichi Sugahara
Takamasa Horibe
Makoto Kurihara

Control Validator

The control_validator is a module that checks the validity of the output of the control component. The status of the validation can be viewed in the /diagnostics topic.

control_validator

Supported features

The following features are supported for the validation and can have thresholds set by parameters. The listed features below does not always correspond to the latest implementation.

Description	Arguments	Diagnostic equation
Inverse velocity: Measured velocity has a different sign from the target velocity.	measured velocity $v$, target velocity $\hat{v}$, and velocity parameter $c$	$v \hat{v} < 0, \quad \lvert v \rvert > c$
Overspeed: Measured speed exceeds target speed significantly.	measured velocity $v$, target velocity $\hat{v}$, ratio parameter $r$, and offset parameter $c$	$\lvert v \rvert > (1 + r) \lvert \hat{v} \rvert + c$
Overrun estimation: estimate overrun even if decelerate by assumed rate.	assumed deceleration, assumed delay

Lateral jerk : invalid when the lateral jerk exceeds the configured threshold. The validation uses the vehicle’s velocity and steering angle rate to calculate the resulting lateral jerk. The calculation assumes constant velocity (acceleration is zero).
Deviation check between reference trajectory and predicted trajectory : invalid when the largest deviation between the predicted trajectory and reference trajectory is greater than the given threshold.
Yaw deviation: invalid when the difference between the yaw of the ego vehicle and the nearest (interpolated) trajectory yaw is greater than the given threshold.
- 2 thresholds are implemented, one to trigger a warning diagnostic, and one to trigger an error diagnostic.

trajectory_deviation

Inputs/Outputs

Inputs

The control_validator takes in the following inputs:

Name	Type	Description
`~/input/kinematics`	nav_msgs/Odometry	ego pose and twist
`~/input/reference_trajectory`	autoware_planning_msgs/Trajectory	reference trajectory which is outputted from planning module to to be followed
`~/input/predicted_trajectory`	autoware_planning_msgs/Trajectory	predicted trajectory which is outputted from control module

Outputs

It outputs the following:

Name	Type	Description
`~/output/validation_status`	control_validator/ControlValidatorStatus	validator status to inform the reason why the trajectory is valid/invalid
`/diagnostics`	diagnostic_msgs/DiagnosticStatus	diagnostics to report errors

Parameters

The following parameters can be set for the control_validator:

System parameters

Name	Type	Description	Default value
`publish_diag`	bool	if true, diagnostics msg is published.	true
`diag_error_count_threshold`	int	the Diag will be set to ERROR when the number of consecutive invalid trajectory exceeds this threshold. (For example, threshold = 1 means, even if the trajectory is invalid, the Diag will not be ERROR if the next trajectory is valid.)	true
`display_on_terminal`	bool	show error msg on terminal	true

Algorithm parameters

Thresholds

The input trajectory is detected as invalid if the index exceeds the following thresholds.

Name	Type	Description	Default value
`thresholds.max_distance_deviation`	double	invalid threshold of the max distance deviation between the predicted path and the reference trajectory [m]	1.0
`thresholds.lateral_jerk`	double	invalid threshold of the lateral jerk for steering rate validation [m/s^3]	10.0
`thresholds.rolling_back_velocity`	double	threshold velocity to validate the vehicle velocity [m/s]	0.5
`thresholds.over_velocity_offset`	double	threshold velocity offset to validate the vehicle velocity [m/s]	2.0
`thresholds.over_velocity_ratio`	double	threshold ratio to validate the vehicle velocity [*]	0.2
`thresholds.overrun_stop_point_dist`	double	threshold distance to overrun stop point [m]	0.8
`thresholds.acc_error_offset`	double	threshold ratio to validate the vehicle acceleration [*]	0.8
`thresholds.acc_error_scale`	double	threshold acceleration to validate the vehicle acceleration [m]	0.2
`thresholds.will_overrun_stop_point_dist`	double	threshold distance to overrun stop point [m]	1.0
`thresholds.assumed_limit_acc`	double	assumed acceleration for over run estimation [m]	5.0
`thresholds.assumed_delay_time`	double	assumed delay for over run estimation [m]	0.2
`thresholds.yaw_deviation_error`	double	threshold angle to validate the vehicle yaw related to the nearest trajectory yaw [rad]	1.0
`thresholds.yaw_deviation_warn`	double	threshold angle to trigger a WARN diagnostic [rad]	0.5

CHANGELOG

Changelog for package autoware_control_validator

0.47.0 (2025-08-11)

feat: change planning output topic name to /planning/trajectory (#11135)
- change planning output topic name to /planning/trajectory
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
fix(planning_validator): init validation status (#11119)
- fix(planning_validator): init validation status
* fix(control_validator): init validation status ---------
style(pre-commit): update to clang-format-20 (#11088) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
feat(control_validator): enhance trajectory validation with previous reference trajectory (#10939)
- feat(control_validator): enhance trajectory validation with previous reference trajectory
* fix(test_control_validator): update lateral deviation test cases to reflect validation status ---------
fix(autoware_control_validator): prevent division by zero in time calculation (#10926)
- fix(lateral_jerk_validator): prevent division by zero in time calculation
* fix(lateral_jerk_validator): improve stability by enforcing minimum time difference for calculations ---------
feat(control_validator): disable control validator error report when not in autonomous control (#10871)
- feat(control_validator): disable control validator error report when not in autonomous control
- also fix control validator launch
- fix: work with yaw validator; fix yaw validator missing in all valid; add a debug info
- chore: get rid of the yaw warn in is_all_valid
* chore: fix topic remapping in launch file ---------
feat(control_validator): 2 thresholds for the yaw deviation (warn/error) (#10876)
feat(control_validator): add yaw_deviation (#10872)
Contributors: Kyoichi Sugahara, Maxime CLEMENT, Mete Fatih Cırıt, Satoshi OTA, Yukihiro Saito, Yuxuan Liu

0.46.0 (2025-06-20)

0.45.0 (2025-05-22)

Merge remote-tracking branch 'origin/main' into tmp/notbot/bump_version_base
feat(control_validator): add lateral jerk validation (#10619)
- feat(control_validator): add steering rate validation and update parameters
- feat(lateral_jerk_validator): rename and implement lateral jerk validation logic
- Steering rate validation has been renamed to lateral jerk validation for clarity.
- Updated the comment to assume constant velocity and adjusted related parameters. ---------
refactor(control_validator): visualize stop reason to virtual wall (#10593)
- feat(control_validator): add error message generation based on validation status
- feat(control_validator): update push_virtual_wall method to include message display
* refactor(control_validator): update error messages for clarity in generate_error_message method ---------
chore(control_validator): update maintainer

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	rosidl_default_generators
	ament_cmake_auto
	autoware_cmake
	rosidl_default_runtime
	ament_cmake_ros
	ament_index_cpp
	ament_lint_auto
	autoware_lint_common
	autoware_test_utils
	autoware_adapi_specs
	autoware_control_msgs
	autoware_motion_utils
	autoware_planning_msgs
	autoware_signal_processing
	autoware_utils
	autoware_vehicle_info_utils
	diagnostic_updater
	geometry_msgs
	nav_msgs
	rclcpp
	rclcpp_components
	visualization_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

launch/control_validator.launch.xml
- - control_validator_param_path [default: $(find-pkg-share autoware_control_validator)/config/control_validator.param.yaml]
  - input_reference_trajectory [default: /planning/trajectory]
  - input_predicted_trajectory [default: /control/trajectory_follower/lateral/predicted_trajectory]
  - input_operational_mode_state [default: /api/operation_mode/state]

Messages

msg/ControlValidatorStatus.msg

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_control_validator` at Robotics Stack Exchange

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

autoware_control_validator package from autoware_universe repo

autoware_agnocast_wrapper autoware_auto_common autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_component_interface_tools autoware_component_interface_utils autoware_cuda_dependency_meta autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_path_distance_calculator autoware_polar_grid autoware_time_utils autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_command_gate autoware_control_performance_analysis autoware_control_validator autoware_external_cmd_selector autoware_joy_controller autoware_lane_departure_checker autoware_mpc_lateral_controller autoware_obstacle_collision_checker autoware_operation_mode_transition_manager autoware_pid_longitudinal_controller autoware_predicted_path_checker autoware_pure_pursuit autoware_shift_decider autoware_smart_mpc_trajectory_follower autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_control_evaluator autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples tier4_autoware_api_launch tier4_control_launch tier4_localization_launch tier4_map_launch tier4_perception_launch tier4_planning_launch tier4_sensing_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose2twist autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion autoware_bytetrack autoware_cluster_merger autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_range_splitter autoware_object_sorter autoware_object_velocity_splitter autoware_occupancy_grid_map_outlier_filter autoware_probabilistic_occupancy_grid_map autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_run_out_module autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_boundary_departure_prevention_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_diagnostics autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_livox_tag_filter autoware_carla_interface autoware_dummy_perception_publisher autoware_fault_injection autoware_learning_based_vehicle_model autoware_simple_planning_simulator autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_bluetooth_monitor autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_monitor autoware_component_state_monitor autoware_adapi_visualizers autoware_automatic_pose_initializer autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_utils autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_duplicated_node_checker autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor reaction_analyzer autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_traffic_light_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_datetime_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_system_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

ROS Distro
github

Package Summary

Tags	No category tags.
Version	0.47.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/autowarefoundation/autoware_universe.git
VCS Type	git
VCS Version	main
Last Updated	2025-08-16
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ros node for autoware_control_validator

Additional Links

No additional links.

Maintainers

Kyoichi Sugahara
Makoto Kurihara
Mamoru Sobue
Takayuki Murooka
Yuki Takagi

Authors

Kyoichi Sugahara
Takamasa Horibe
Makoto Kurihara

Control Validator

The control_validator is a module that checks the validity of the output of the control component. The status of the validation can be viewed in the /diagnostics topic.

control_validator

Supported features

The following features are supported for the validation and can have thresholds set by parameters. The listed features below does not always correspond to the latest implementation.

Description	Arguments	Diagnostic equation
Inverse velocity: Measured velocity has a different sign from the target velocity.	measured velocity $v$, target velocity $\hat{v}$, and velocity parameter $c$	$v \hat{v} < 0, \quad \lvert v \rvert > c$
Overspeed: Measured speed exceeds target speed significantly.	measured velocity $v$, target velocity $\hat{v}$, ratio parameter $r$, and offset parameter $c$	$\lvert v \rvert > (1 + r) \lvert \hat{v} \rvert + c$
Overrun estimation: estimate overrun even if decelerate by assumed rate.	assumed deceleration, assumed delay

Lateral jerk : invalid when the lateral jerk exceeds the configured threshold. The validation uses the vehicle’s velocity and steering angle rate to calculate the resulting lateral jerk. The calculation assumes constant velocity (acceleration is zero).
Deviation check between reference trajectory and predicted trajectory : invalid when the largest deviation between the predicted trajectory and reference trajectory is greater than the given threshold.
Yaw deviation: invalid when the difference between the yaw of the ego vehicle and the nearest (interpolated) trajectory yaw is greater than the given threshold.
- 2 thresholds are implemented, one to trigger a warning diagnostic, and one to trigger an error diagnostic.

trajectory_deviation

Inputs/Outputs

Inputs

The control_validator takes in the following inputs:

Name	Type	Description
`~/input/kinematics`	nav_msgs/Odometry	ego pose and twist
`~/input/reference_trajectory`	autoware_planning_msgs/Trajectory	reference trajectory which is outputted from planning module to to be followed
`~/input/predicted_trajectory`	autoware_planning_msgs/Trajectory	predicted trajectory which is outputted from control module

Outputs

It outputs the following:

Name	Type	Description
`~/output/validation_status`	control_validator/ControlValidatorStatus	validator status to inform the reason why the trajectory is valid/invalid
`/diagnostics`	diagnostic_msgs/DiagnosticStatus	diagnostics to report errors

Parameters

The following parameters can be set for the control_validator:

System parameters

Name	Type	Description	Default value
`publish_diag`	bool	if true, diagnostics msg is published.	true
`diag_error_count_threshold`	int	the Diag will be set to ERROR when the number of consecutive invalid trajectory exceeds this threshold. (For example, threshold = 1 means, even if the trajectory is invalid, the Diag will not be ERROR if the next trajectory is valid.)	true
`display_on_terminal`	bool	show error msg on terminal	true

Algorithm parameters

Thresholds

The input trajectory is detected as invalid if the index exceeds the following thresholds.

Name	Type	Description	Default value
`thresholds.max_distance_deviation`	double	invalid threshold of the max distance deviation between the predicted path and the reference trajectory [m]	1.0
`thresholds.lateral_jerk`	double	invalid threshold of the lateral jerk for steering rate validation [m/s^3]	10.0
`thresholds.rolling_back_velocity`	double	threshold velocity to validate the vehicle velocity [m/s]	0.5
`thresholds.over_velocity_offset`	double	threshold velocity offset to validate the vehicle velocity [m/s]	2.0
`thresholds.over_velocity_ratio`	double	threshold ratio to validate the vehicle velocity [*]	0.2
`thresholds.overrun_stop_point_dist`	double	threshold distance to overrun stop point [m]	0.8
`thresholds.acc_error_offset`	double	threshold ratio to validate the vehicle acceleration [*]	0.8
`thresholds.acc_error_scale`	double	threshold acceleration to validate the vehicle acceleration [m]	0.2
`thresholds.will_overrun_stop_point_dist`	double	threshold distance to overrun stop point [m]	1.0
`thresholds.assumed_limit_acc`	double	assumed acceleration for over run estimation [m]	5.0
`thresholds.assumed_delay_time`	double	assumed delay for over run estimation [m]	0.2
`thresholds.yaw_deviation_error`	double	threshold angle to validate the vehicle yaw related to the nearest trajectory yaw [rad]	1.0
`thresholds.yaw_deviation_warn`	double	threshold angle to trigger a WARN diagnostic [rad]	0.5

CHANGELOG

Changelog for package autoware_control_validator

0.47.0 (2025-08-11)

feat: change planning output topic name to /planning/trajectory (#11135)
- change planning output topic name to /planning/trajectory
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
fix(planning_validator): init validation status (#11119)
- fix(planning_validator): init validation status
* fix(control_validator): init validation status ---------
style(pre-commit): update to clang-format-20 (#11088) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
feat(control_validator): enhance trajectory validation with previous reference trajectory (#10939)
- feat(control_validator): enhance trajectory validation with previous reference trajectory
* fix(test_control_validator): update lateral deviation test cases to reflect validation status ---------
fix(autoware_control_validator): prevent division by zero in time calculation (#10926)
- fix(lateral_jerk_validator): prevent division by zero in time calculation
* fix(lateral_jerk_validator): improve stability by enforcing minimum time difference for calculations ---------
feat(control_validator): disable control validator error report when not in autonomous control (#10871)
- feat(control_validator): disable control validator error report when not in autonomous control
- also fix control validator launch
- fix: work with yaw validator; fix yaw validator missing in all valid; add a debug info
- chore: get rid of the yaw warn in is_all_valid
* chore: fix topic remapping in launch file ---------
feat(control_validator): 2 thresholds for the yaw deviation (warn/error) (#10876)
feat(control_validator): add yaw_deviation (#10872)
Contributors: Kyoichi Sugahara, Maxime CLEMENT, Mete Fatih Cırıt, Satoshi OTA, Yukihiro Saito, Yuxuan Liu

0.46.0 (2025-06-20)

0.45.0 (2025-05-22)

Merge remote-tracking branch 'origin/main' into tmp/notbot/bump_version_base
feat(control_validator): add lateral jerk validation (#10619)
- feat(control_validator): add steering rate validation and update parameters
- feat(lateral_jerk_validator): rename and implement lateral jerk validation logic
- Steering rate validation has been renamed to lateral jerk validation for clarity.
- Updated the comment to assume constant velocity and adjusted related parameters. ---------
refactor(control_validator): visualize stop reason to virtual wall (#10593)
- feat(control_validator): add error message generation based on validation status
- feat(control_validator): update push_virtual_wall method to include message display
* refactor(control_validator): update error messages for clarity in generate_error_message method ---------
chore(control_validator): update maintainer

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	rosidl_default_generators
	ament_cmake_auto
	autoware_cmake
	rosidl_default_runtime
	ament_cmake_ros
	ament_index_cpp
	ament_lint_auto
	autoware_lint_common
	autoware_test_utils
	autoware_adapi_specs
	autoware_control_msgs
	autoware_motion_utils
	autoware_planning_msgs
	autoware_signal_processing
	autoware_utils
	autoware_vehicle_info_utils
	diagnostic_updater
	geometry_msgs
	nav_msgs
	rclcpp
	rclcpp_components
	visualization_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

launch/control_validator.launch.xml
- - control_validator_param_path [default: $(find-pkg-share autoware_control_validator)/config/control_validator.param.yaml]
  - input_reference_trajectory [default: /planning/trajectory]
  - input_predicted_trajectory [default: /control/trajectory_follower/lateral/predicted_trajectory]
  - input_operational_mode_state [default: /api/operation_mode/state]

Messages

msg/ControlValidatorStatus.msg

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_control_validator` at Robotics Stack Exchange

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autoware_control_validator package from autoware_universe repo

autoware_agnocast_wrapper autoware_auto_common autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_component_interface_tools autoware_component_interface_utils autoware_cuda_dependency_meta autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_path_distance_calculator autoware_polar_grid autoware_time_utils autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_command_gate autoware_control_performance_analysis autoware_control_validator autoware_external_cmd_selector autoware_joy_controller autoware_lane_departure_checker autoware_mpc_lateral_controller autoware_obstacle_collision_checker autoware_operation_mode_transition_manager autoware_pid_longitudinal_controller autoware_predicted_path_checker autoware_pure_pursuit autoware_shift_decider autoware_smart_mpc_trajectory_follower autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_control_evaluator autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples tier4_autoware_api_launch tier4_control_launch tier4_localization_launch tier4_map_launch tier4_perception_launch tier4_planning_launch tier4_sensing_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose2twist autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion autoware_bytetrack autoware_cluster_merger autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_range_splitter autoware_object_sorter autoware_object_velocity_splitter autoware_occupancy_grid_map_outlier_filter autoware_probabilistic_occupancy_grid_map autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_run_out_module autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_boundary_departure_prevention_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_diagnostics autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_livox_tag_filter autoware_carla_interface autoware_dummy_perception_publisher autoware_fault_injection autoware_learning_based_vehicle_model autoware_simple_planning_simulator autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_bluetooth_monitor autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_monitor autoware_component_state_monitor autoware_adapi_visualizers autoware_automatic_pose_initializer autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_utils autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_duplicated_node_checker autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor reaction_analyzer autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_traffic_light_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_datetime_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_system_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

ROS Distro
github

Package Summary

Tags	No category tags.
Version	0.47.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/autowarefoundation/autoware_universe.git
VCS Type	git
VCS Version	main
Last Updated	2025-08-16
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ros node for autoware_control_validator

Additional Links

No additional links.

Maintainers

Kyoichi Sugahara
Makoto Kurihara
Mamoru Sobue
Takayuki Murooka
Yuki Takagi

Authors

Kyoichi Sugahara
Takamasa Horibe
Makoto Kurihara

Control Validator

The control_validator is a module that checks the validity of the output of the control component. The status of the validation can be viewed in the /diagnostics topic.

control_validator

Supported features

The following features are supported for the validation and can have thresholds set by parameters. The listed features below does not always correspond to the latest implementation.

Description	Arguments	Diagnostic equation
Inverse velocity: Measured velocity has a different sign from the target velocity.	measured velocity $v$, target velocity $\hat{v}$, and velocity parameter $c$	$v \hat{v} < 0, \quad \lvert v \rvert > c$
Overspeed: Measured speed exceeds target speed significantly.	measured velocity $v$, target velocity $\hat{v}$, ratio parameter $r$, and offset parameter $c$	$\lvert v \rvert > (1 + r) \lvert \hat{v} \rvert + c$
Overrun estimation: estimate overrun even if decelerate by assumed rate.	assumed deceleration, assumed delay

Lateral jerk : invalid when the lateral jerk exceeds the configured threshold. The validation uses the vehicle’s velocity and steering angle rate to calculate the resulting lateral jerk. The calculation assumes constant velocity (acceleration is zero).
Deviation check between reference trajectory and predicted trajectory : invalid when the largest deviation between the predicted trajectory and reference trajectory is greater than the given threshold.
Yaw deviation: invalid when the difference between the yaw of the ego vehicle and the nearest (interpolated) trajectory yaw is greater than the given threshold.
- 2 thresholds are implemented, one to trigger a warning diagnostic, and one to trigger an error diagnostic.

trajectory_deviation

Inputs/Outputs

Inputs

The control_validator takes in the following inputs:

Name	Type	Description
`~/input/kinematics`	nav_msgs/Odometry	ego pose and twist
`~/input/reference_trajectory`	autoware_planning_msgs/Trajectory	reference trajectory which is outputted from planning module to to be followed
`~/input/predicted_trajectory`	autoware_planning_msgs/Trajectory	predicted trajectory which is outputted from control module

Outputs

It outputs the following:

Name	Type	Description
`~/output/validation_status`	control_validator/ControlValidatorStatus	validator status to inform the reason why the trajectory is valid/invalid
`/diagnostics`	diagnostic_msgs/DiagnosticStatus	diagnostics to report errors

Parameters

The following parameters can be set for the control_validator:

System parameters

Name	Type	Description	Default value
`publish_diag`	bool	if true, diagnostics msg is published.	true
`diag_error_count_threshold`	int	the Diag will be set to ERROR when the number of consecutive invalid trajectory exceeds this threshold. (For example, threshold = 1 means, even if the trajectory is invalid, the Diag will not be ERROR if the next trajectory is valid.)	true
`display_on_terminal`	bool	show error msg on terminal	true

Algorithm parameters

Thresholds

The input trajectory is detected as invalid if the index exceeds the following thresholds.

Name	Type	Description	Default value
`thresholds.max_distance_deviation`	double	invalid threshold of the max distance deviation between the predicted path and the reference trajectory [m]	1.0
`thresholds.lateral_jerk`	double	invalid threshold of the lateral jerk for steering rate validation [m/s^3]	10.0
`thresholds.rolling_back_velocity`	double	threshold velocity to validate the vehicle velocity [m/s]	0.5
`thresholds.over_velocity_offset`	double	threshold velocity offset to validate the vehicle velocity [m/s]	2.0
`thresholds.over_velocity_ratio`	double	threshold ratio to validate the vehicle velocity [*]	0.2
`thresholds.overrun_stop_point_dist`	double	threshold distance to overrun stop point [m]	0.8
`thresholds.acc_error_offset`	double	threshold ratio to validate the vehicle acceleration [*]	0.8
`thresholds.acc_error_scale`	double	threshold acceleration to validate the vehicle acceleration [m]	0.2
`thresholds.will_overrun_stop_point_dist`	double	threshold distance to overrun stop point [m]	1.0
`thresholds.assumed_limit_acc`	double	assumed acceleration for over run estimation [m]	5.0
`thresholds.assumed_delay_time`	double	assumed delay for over run estimation [m]	0.2
`thresholds.yaw_deviation_error`	double	threshold angle to validate the vehicle yaw related to the nearest trajectory yaw [rad]	1.0
`thresholds.yaw_deviation_warn`	double	threshold angle to trigger a WARN diagnostic [rad]	0.5

CHANGELOG

Changelog for package autoware_control_validator

0.47.0 (2025-08-11)

feat: change planning output topic name to /planning/trajectory (#11135)
- change planning output topic name to /planning/trajectory
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
fix(planning_validator): init validation status (#11119)
- fix(planning_validator): init validation status
* fix(control_validator): init validation status ---------
style(pre-commit): update to clang-format-20 (#11088) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
feat(control_validator): enhance trajectory validation with previous reference trajectory (#10939)
- feat(control_validator): enhance trajectory validation with previous reference trajectory
* fix(test_control_validator): update lateral deviation test cases to reflect validation status ---------
fix(autoware_control_validator): prevent division by zero in time calculation (#10926)
- fix(lateral_jerk_validator): prevent division by zero in time calculation
* fix(lateral_jerk_validator): improve stability by enforcing minimum time difference for calculations ---------
feat(control_validator): disable control validator error report when not in autonomous control (#10871)
- feat(control_validator): disable control validator error report when not in autonomous control
- also fix control validator launch
- fix: work with yaw validator; fix yaw validator missing in all valid; add a debug info
- chore: get rid of the yaw warn in is_all_valid
* chore: fix topic remapping in launch file ---------
feat(control_validator): 2 thresholds for the yaw deviation (warn/error) (#10876)
feat(control_validator): add yaw_deviation (#10872)
Contributors: Kyoichi Sugahara, Maxime CLEMENT, Mete Fatih Cırıt, Satoshi OTA, Yukihiro Saito, Yuxuan Liu

0.46.0 (2025-06-20)

0.45.0 (2025-05-22)

Merge remote-tracking branch 'origin/main' into tmp/notbot/bump_version_base
feat(control_validator): add lateral jerk validation (#10619)
- feat(control_validator): add steering rate validation and update parameters
- feat(lateral_jerk_validator): rename and implement lateral jerk validation logic
- Steering rate validation has been renamed to lateral jerk validation for clarity.
- Updated the comment to assume constant velocity and adjusted related parameters. ---------
refactor(control_validator): visualize stop reason to virtual wall (#10593)
- feat(control_validator): add error message generation based on validation status
- feat(control_validator): update push_virtual_wall method to include message display
* refactor(control_validator): update error messages for clarity in generate_error_message method ---------
chore(control_validator): update maintainer

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	rosidl_default_generators
	ament_cmake_auto
	autoware_cmake
	rosidl_default_runtime
	ament_cmake_ros
	ament_index_cpp
	ament_lint_auto
	autoware_lint_common
	autoware_test_utils
	autoware_adapi_specs
	autoware_control_msgs
	autoware_motion_utils
	autoware_planning_msgs
	autoware_signal_processing
	autoware_utils
	autoware_vehicle_info_utils
	diagnostic_updater
	geometry_msgs
	nav_msgs
	rclcpp
	rclcpp_components
	visualization_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

launch/control_validator.launch.xml
- - control_validator_param_path [default: $(find-pkg-share autoware_control_validator)/config/control_validator.param.yaml]
  - input_reference_trajectory [default: /planning/trajectory]
  - input_predicted_trajectory [default: /control/trajectory_follower/lateral/predicted_trajectory]
  - input_operational_mode_state [default: /api/operation_mode/state]

Messages

msg/ControlValidatorStatus.msg

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_control_validator` at Robotics Stack Exchange

autoware_control_validator package from autoware_universe repo

autoware_agnocast_wrapper autoware_auto_common autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_component_interface_tools autoware_component_interface_utils autoware_cuda_dependency_meta autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_path_distance_calculator autoware_polar_grid autoware_time_utils autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_command_gate autoware_control_performance_analysis autoware_control_validator autoware_external_cmd_selector autoware_joy_controller autoware_lane_departure_checker autoware_mpc_lateral_controller autoware_obstacle_collision_checker autoware_operation_mode_transition_manager autoware_pid_longitudinal_controller autoware_predicted_path_checker autoware_pure_pursuit autoware_shift_decider autoware_smart_mpc_trajectory_follower autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_control_evaluator autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples tier4_autoware_api_launch tier4_control_launch tier4_localization_launch tier4_map_launch tier4_perception_launch tier4_planning_launch tier4_sensing_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose2twist autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion autoware_bytetrack autoware_cluster_merger autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_range_splitter autoware_object_sorter autoware_object_velocity_splitter autoware_occupancy_grid_map_outlier_filter autoware_probabilistic_occupancy_grid_map autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_run_out_module autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_boundary_departure_prevention_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_diagnostics autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_livox_tag_filter autoware_carla_interface autoware_dummy_perception_publisher autoware_fault_injection autoware_learning_based_vehicle_model autoware_simple_planning_simulator autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_bluetooth_monitor autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_monitor autoware_component_state_monitor autoware_adapi_visualizers autoware_automatic_pose_initializer autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_utils autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_duplicated_node_checker autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor reaction_analyzer autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_traffic_light_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_datetime_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_system_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

ROS Distro
github

Package Summary

Tags	No category tags.
Version	0.47.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/autowarefoundation/autoware_universe.git
VCS Type	git
VCS Version	main
Last Updated	2025-08-16
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ros node for autoware_control_validator

Additional Links

No additional links.

Maintainers

Kyoichi Sugahara
Makoto Kurihara
Mamoru Sobue
Takayuki Murooka
Yuki Takagi

Authors

Kyoichi Sugahara
Takamasa Horibe
Makoto Kurihara

Control Validator

The control_validator is a module that checks the validity of the output of the control component. The status of the validation can be viewed in the /diagnostics topic.

control_validator

Supported features

The following features are supported for the validation and can have thresholds set by parameters. The listed features below does not always correspond to the latest implementation.

Description	Arguments	Diagnostic equation
Inverse velocity: Measured velocity has a different sign from the target velocity.	measured velocity $v$, target velocity $\hat{v}$, and velocity parameter $c$	$v \hat{v} < 0, \quad \lvert v \rvert > c$
Overspeed: Measured speed exceeds target speed significantly.	measured velocity $v$, target velocity $\hat{v}$, ratio parameter $r$, and offset parameter $c$	$\lvert v \rvert > (1 + r) \lvert \hat{v} \rvert + c$
Overrun estimation: estimate overrun even if decelerate by assumed rate.	assumed deceleration, assumed delay

Lateral jerk : invalid when the lateral jerk exceeds the configured threshold. The validation uses the vehicle’s velocity and steering angle rate to calculate the resulting lateral jerk. The calculation assumes constant velocity (acceleration is zero).
Deviation check between reference trajectory and predicted trajectory : invalid when the largest deviation between the predicted trajectory and reference trajectory is greater than the given threshold.
Yaw deviation: invalid when the difference between the yaw of the ego vehicle and the nearest (interpolated) trajectory yaw is greater than the given threshold.
- 2 thresholds are implemented, one to trigger a warning diagnostic, and one to trigger an error diagnostic.

trajectory_deviation

Inputs/Outputs

Inputs

The control_validator takes in the following inputs:

Name	Type	Description
`~/input/kinematics`	nav_msgs/Odometry	ego pose and twist
`~/input/reference_trajectory`	autoware_planning_msgs/Trajectory	reference trajectory which is outputted from planning module to to be followed
`~/input/predicted_trajectory`	autoware_planning_msgs/Trajectory	predicted trajectory which is outputted from control module

Outputs

It outputs the following:

Name	Type	Description
`~/output/validation_status`	control_validator/ControlValidatorStatus	validator status to inform the reason why the trajectory is valid/invalid
`/diagnostics`	diagnostic_msgs/DiagnosticStatus	diagnostics to report errors

Parameters

The following parameters can be set for the control_validator:

System parameters

Name	Type	Description	Default value
`publish_diag`	bool	if true, diagnostics msg is published.	true
`diag_error_count_threshold`	int	the Diag will be set to ERROR when the number of consecutive invalid trajectory exceeds this threshold. (For example, threshold = 1 means, even if the trajectory is invalid, the Diag will not be ERROR if the next trajectory is valid.)	true
`display_on_terminal`	bool	show error msg on terminal	true

Algorithm parameters

Thresholds

The input trajectory is detected as invalid if the index exceeds the following thresholds.

Name	Type	Description	Default value
`thresholds.max_distance_deviation`	double	invalid threshold of the max distance deviation between the predicted path and the reference trajectory [m]	1.0
`thresholds.lateral_jerk`	double	invalid threshold of the lateral jerk for steering rate validation [m/s^3]	10.0
`thresholds.rolling_back_velocity`	double	threshold velocity to validate the vehicle velocity [m/s]	0.5
`thresholds.over_velocity_offset`	double	threshold velocity offset to validate the vehicle velocity [m/s]	2.0
`thresholds.over_velocity_ratio`	double	threshold ratio to validate the vehicle velocity [*]	0.2
`thresholds.overrun_stop_point_dist`	double	threshold distance to overrun stop point [m]	0.8
`thresholds.acc_error_offset`	double	threshold ratio to validate the vehicle acceleration [*]	0.8
`thresholds.acc_error_scale`	double	threshold acceleration to validate the vehicle acceleration [m]	0.2
`thresholds.will_overrun_stop_point_dist`	double	threshold distance to overrun stop point [m]	1.0
`thresholds.assumed_limit_acc`	double	assumed acceleration for over run estimation [m]	5.0
`thresholds.assumed_delay_time`	double	assumed delay for over run estimation [m]	0.2
`thresholds.yaw_deviation_error`	double	threshold angle to validate the vehicle yaw related to the nearest trajectory yaw [rad]	1.0
`thresholds.yaw_deviation_warn`	double	threshold angle to trigger a WARN diagnostic [rad]	0.5

CHANGELOG

Changelog for package autoware_control_validator

0.47.0 (2025-08-11)

feat: change planning output topic name to /planning/trajectory (#11135)
- change planning output topic name to /planning/trajectory
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
fix(planning_validator): init validation status (#11119)
- fix(planning_validator): init validation status
* fix(control_validator): init validation status ---------
style(pre-commit): update to clang-format-20 (#11088) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
feat(control_validator): enhance trajectory validation with previous reference trajectory (#10939)
- feat(control_validator): enhance trajectory validation with previous reference trajectory
* fix(test_control_validator): update lateral deviation test cases to reflect validation status ---------
fix(autoware_control_validator): prevent division by zero in time calculation (#10926)
- fix(lateral_jerk_validator): prevent division by zero in time calculation
* fix(lateral_jerk_validator): improve stability by enforcing minimum time difference for calculations ---------
feat(control_validator): disable control validator error report when not in autonomous control (#10871)
- feat(control_validator): disable control validator error report when not in autonomous control
- also fix control validator launch
- fix: work with yaw validator; fix yaw validator missing in all valid; add a debug info
- chore: get rid of the yaw warn in is_all_valid
* chore: fix topic remapping in launch file ---------
feat(control_validator): 2 thresholds for the yaw deviation (warn/error) (#10876)
feat(control_validator): add yaw_deviation (#10872)
Contributors: Kyoichi Sugahara, Maxime CLEMENT, Mete Fatih Cırıt, Satoshi OTA, Yukihiro Saito, Yuxuan Liu

0.46.0 (2025-06-20)

0.45.0 (2025-05-22)

Merge remote-tracking branch 'origin/main' into tmp/notbot/bump_version_base
feat(control_validator): add lateral jerk validation (#10619)
- feat(control_validator): add steering rate validation and update parameters
- feat(lateral_jerk_validator): rename and implement lateral jerk validation logic
- Steering rate validation has been renamed to lateral jerk validation for clarity.
- Updated the comment to assume constant velocity and adjusted related parameters. ---------
refactor(control_validator): visualize stop reason to virtual wall (#10593)
- feat(control_validator): add error message generation based on validation status
- feat(control_validator): update push_virtual_wall method to include message display
* refactor(control_validator): update error messages for clarity in generate_error_message method ---------
chore(control_validator): update maintainer

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	rosidl_default_generators
	ament_cmake_auto
	autoware_cmake
	rosidl_default_runtime
	ament_cmake_ros
	ament_index_cpp
	ament_lint_auto
	autoware_lint_common
	autoware_test_utils
	autoware_adapi_specs
	autoware_control_msgs
	autoware_motion_utils
	autoware_planning_msgs
	autoware_signal_processing
	autoware_utils
	autoware_vehicle_info_utils
	diagnostic_updater
	geometry_msgs
	nav_msgs
	rclcpp
	rclcpp_components
	visualization_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

launch/control_validator.launch.xml
- - control_validator_param_path [default: $(find-pkg-share autoware_control_validator)/config/control_validator.param.yaml]
  - input_reference_trajectory [default: /planning/trajectory]
  - input_predicted_trajectory [default: /control/trajectory_follower/lateral/predicted_trajectory]
  - input_operational_mode_state [default: /api/operation_mode/state]

Messages

msg/ControlValidatorStatus.msg

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_control_validator` at Robotics Stack Exchange

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autoware_control_validator package from autoware_universe repo

autoware_agnocast_wrapper autoware_auto_common autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_component_interface_tools autoware_component_interface_utils autoware_cuda_dependency_meta autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_path_distance_calculator autoware_polar_grid autoware_time_utils autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_command_gate autoware_control_performance_analysis autoware_control_validator autoware_external_cmd_selector autoware_joy_controller autoware_lane_departure_checker autoware_mpc_lateral_controller autoware_obstacle_collision_checker autoware_operation_mode_transition_manager autoware_pid_longitudinal_controller autoware_predicted_path_checker autoware_pure_pursuit autoware_shift_decider autoware_smart_mpc_trajectory_follower autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_control_evaluator autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples tier4_autoware_api_launch tier4_control_launch tier4_localization_launch tier4_map_launch tier4_perception_launch tier4_planning_launch tier4_sensing_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose2twist autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion autoware_bytetrack autoware_cluster_merger autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_range_splitter autoware_object_sorter autoware_object_velocity_splitter autoware_occupancy_grid_map_outlier_filter autoware_probabilistic_occupancy_grid_map autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_run_out_module autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_boundary_departure_prevention_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_diagnostics autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_livox_tag_filter autoware_carla_interface autoware_dummy_perception_publisher autoware_fault_injection autoware_learning_based_vehicle_model autoware_simple_planning_simulator autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_bluetooth_monitor autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_monitor autoware_component_state_monitor autoware_adapi_visualizers autoware_automatic_pose_initializer autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_utils autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_duplicated_node_checker autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor reaction_analyzer autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_traffic_light_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_datetime_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_system_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

ROS Distro
github

Package Summary

Tags	No category tags.
Version	0.47.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/autowarefoundation/autoware_universe.git
VCS Type	git
VCS Version	main
Last Updated	2025-08-16
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ros node for autoware_control_validator

Additional Links

No additional links.

Maintainers

Kyoichi Sugahara
Makoto Kurihara
Mamoru Sobue
Takayuki Murooka
Yuki Takagi

Authors

Kyoichi Sugahara
Takamasa Horibe
Makoto Kurihara

Control Validator

The control_validator is a module that checks the validity of the output of the control component. The status of the validation can be viewed in the /diagnostics topic.

control_validator

Supported features

The following features are supported for the validation and can have thresholds set by parameters. The listed features below does not always correspond to the latest implementation.

Description	Arguments	Diagnostic equation
Inverse velocity: Measured velocity has a different sign from the target velocity.	measured velocity $v$, target velocity $\hat{v}$, and velocity parameter $c$	$v \hat{v} < 0, \quad \lvert v \rvert > c$
Overspeed: Measured speed exceeds target speed significantly.	measured velocity $v$, target velocity $\hat{v}$, ratio parameter $r$, and offset parameter $c$	$\lvert v \rvert > (1 + r) \lvert \hat{v} \rvert + c$
Overrun estimation: estimate overrun even if decelerate by assumed rate.	assumed deceleration, assumed delay

Lateral jerk : invalid when the lateral jerk exceeds the configured threshold. The validation uses the vehicle’s velocity and steering angle rate to calculate the resulting lateral jerk. The calculation assumes constant velocity (acceleration is zero).
Deviation check between reference trajectory and predicted trajectory : invalid when the largest deviation between the predicted trajectory and reference trajectory is greater than the given threshold.
Yaw deviation: invalid when the difference between the yaw of the ego vehicle and the nearest (interpolated) trajectory yaw is greater than the given threshold.
- 2 thresholds are implemented, one to trigger a warning diagnostic, and one to trigger an error diagnostic.

trajectory_deviation

Inputs/Outputs

Inputs

The control_validator takes in the following inputs:

Name	Type	Description
`~/input/kinematics`	nav_msgs/Odometry	ego pose and twist
`~/input/reference_trajectory`	autoware_planning_msgs/Trajectory	reference trajectory which is outputted from planning module to to be followed
`~/input/predicted_trajectory`	autoware_planning_msgs/Trajectory	predicted trajectory which is outputted from control module

Outputs

It outputs the following:

Name	Type	Description
`~/output/validation_status`	control_validator/ControlValidatorStatus	validator status to inform the reason why the trajectory is valid/invalid
`/diagnostics`	diagnostic_msgs/DiagnosticStatus	diagnostics to report errors

Parameters

The following parameters can be set for the control_validator:

System parameters

Name	Type	Description	Default value
`publish_diag`	bool	if true, diagnostics msg is published.	true
`diag_error_count_threshold`	int	the Diag will be set to ERROR when the number of consecutive invalid trajectory exceeds this threshold. (For example, threshold = 1 means, even if the trajectory is invalid, the Diag will not be ERROR if the next trajectory is valid.)	true
`display_on_terminal`	bool	show error msg on terminal	true

Algorithm parameters

Thresholds

The input trajectory is detected as invalid if the index exceeds the following thresholds.

Name	Type	Description	Default value
`thresholds.max_distance_deviation`	double	invalid threshold of the max distance deviation between the predicted path and the reference trajectory [m]	1.0
`thresholds.lateral_jerk`	double	invalid threshold of the lateral jerk for steering rate validation [m/s^3]	10.0
`thresholds.rolling_back_velocity`	double	threshold velocity to validate the vehicle velocity [m/s]	0.5
`thresholds.over_velocity_offset`	double	threshold velocity offset to validate the vehicle velocity [m/s]	2.0
`thresholds.over_velocity_ratio`	double	threshold ratio to validate the vehicle velocity [*]	0.2
`thresholds.overrun_stop_point_dist`	double	threshold distance to overrun stop point [m]	0.8
`thresholds.acc_error_offset`	double	threshold ratio to validate the vehicle acceleration [*]	0.8
`thresholds.acc_error_scale`	double	threshold acceleration to validate the vehicle acceleration [m]	0.2
`thresholds.will_overrun_stop_point_dist`	double	threshold distance to overrun stop point [m]	1.0
`thresholds.assumed_limit_acc`	double	assumed acceleration for over run estimation [m]	5.0
`thresholds.assumed_delay_time`	double	assumed delay for over run estimation [m]	0.2
`thresholds.yaw_deviation_error`	double	threshold angle to validate the vehicle yaw related to the nearest trajectory yaw [rad]	1.0
`thresholds.yaw_deviation_warn`	double	threshold angle to trigger a WARN diagnostic [rad]	0.5

CHANGELOG

Changelog for package autoware_control_validator

0.47.0 (2025-08-11)

feat: change planning output topic name to /planning/trajectory (#11135)
- change planning output topic name to /planning/trajectory
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
fix(planning_validator): init validation status (#11119)
- fix(planning_validator): init validation status
* fix(control_validator): init validation status ---------
style(pre-commit): update to clang-format-20 (#11088) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
feat(control_validator): enhance trajectory validation with previous reference trajectory (#10939)
- feat(control_validator): enhance trajectory validation with previous reference trajectory
* fix(test_control_validator): update lateral deviation test cases to reflect validation status ---------
fix(autoware_control_validator): prevent division by zero in time calculation (#10926)
- fix(lateral_jerk_validator): prevent division by zero in time calculation
* fix(lateral_jerk_validator): improve stability by enforcing minimum time difference for calculations ---------
feat(control_validator): disable control validator error report when not in autonomous control (#10871)
- feat(control_validator): disable control validator error report when not in autonomous control
- also fix control validator launch
- fix: work with yaw validator; fix yaw validator missing in all valid; add a debug info
- chore: get rid of the yaw warn in is_all_valid
* chore: fix topic remapping in launch file ---------
feat(control_validator): 2 thresholds for the yaw deviation (warn/error) (#10876)
feat(control_validator): add yaw_deviation (#10872)
Contributors: Kyoichi Sugahara, Maxime CLEMENT, Mete Fatih Cırıt, Satoshi OTA, Yukihiro Saito, Yuxuan Liu

0.46.0 (2025-06-20)

0.45.0 (2025-05-22)

Merge remote-tracking branch 'origin/main' into tmp/notbot/bump_version_base
feat(control_validator): add lateral jerk validation (#10619)
- feat(control_validator): add steering rate validation and update parameters
- feat(lateral_jerk_validator): rename and implement lateral jerk validation logic
- Steering rate validation has been renamed to lateral jerk validation for clarity.
- Updated the comment to assume constant velocity and adjusted related parameters. ---------
refactor(control_validator): visualize stop reason to virtual wall (#10593)
- feat(control_validator): add error message generation based on validation status
- feat(control_validator): update push_virtual_wall method to include message display
* refactor(control_validator): update error messages for clarity in generate_error_message method ---------
chore(control_validator): update maintainer

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	rosidl_default_generators
	ament_cmake_auto
	autoware_cmake
	rosidl_default_runtime
	ament_cmake_ros
	ament_index_cpp
	ament_lint_auto
	autoware_lint_common
	autoware_test_utils
	autoware_adapi_specs
	autoware_control_msgs
	autoware_motion_utils
	autoware_planning_msgs
	autoware_signal_processing
	autoware_utils
	autoware_vehicle_info_utils
	diagnostic_updater
	geometry_msgs
	nav_msgs
	rclcpp
	rclcpp_components
	visualization_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

launch/control_validator.launch.xml
- - control_validator_param_path [default: $(find-pkg-share autoware_control_validator)/config/control_validator.param.yaml]
  - input_reference_trajectory [default: /planning/trajectory]
  - input_predicted_trajectory [default: /control/trajectory_follower/lateral/predicted_trajectory]
  - input_operational_mode_state [default: /api/operation_mode/state]

Messages

msg/ControlValidatorStatus.msg

Services

No service files found

Plugins

No plugins found.

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autoware_control_validator package from autoware_universe repo

autoware_agnocast_wrapper autoware_auto_common autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_component_interface_tools autoware_component_interface_utils autoware_cuda_dependency_meta autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_path_distance_calculator autoware_polar_grid autoware_time_utils autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_command_gate autoware_control_performance_analysis autoware_control_validator autoware_external_cmd_selector autoware_joy_controller autoware_lane_departure_checker autoware_mpc_lateral_controller autoware_obstacle_collision_checker autoware_operation_mode_transition_manager autoware_pid_longitudinal_controller autoware_predicted_path_checker autoware_pure_pursuit autoware_shift_decider autoware_smart_mpc_trajectory_follower autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_control_evaluator autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples tier4_autoware_api_launch tier4_control_launch tier4_localization_launch tier4_map_launch tier4_perception_launch tier4_planning_launch tier4_sensing_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose2twist autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion autoware_bytetrack autoware_cluster_merger autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_range_splitter autoware_object_sorter autoware_object_velocity_splitter autoware_occupancy_grid_map_outlier_filter autoware_probabilistic_occupancy_grid_map autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_run_out_module autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_boundary_departure_prevention_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_diagnostics autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_livox_tag_filter autoware_carla_interface autoware_dummy_perception_publisher autoware_fault_injection autoware_learning_based_vehicle_model autoware_simple_planning_simulator autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_bluetooth_monitor autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_monitor autoware_component_state_monitor autoware_adapi_visualizers autoware_automatic_pose_initializer autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_utils autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_duplicated_node_checker autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor reaction_analyzer autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_traffic_light_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_datetime_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_system_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

ROS Distro
github

Package Summary

Tags	No category tags.
Version	0.47.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/autowarefoundation/autoware_universe.git
VCS Type	git
VCS Version	main
Last Updated	2025-08-16
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ros node for autoware_control_validator

Additional Links

No additional links.

Maintainers

Kyoichi Sugahara
Makoto Kurihara
Mamoru Sobue
Takayuki Murooka
Yuki Takagi

Authors

Kyoichi Sugahara
Takamasa Horibe
Makoto Kurihara

Control Validator

The control_validator is a module that checks the validity of the output of the control component. The status of the validation can be viewed in the /diagnostics topic.

control_validator

Supported features

The following features are supported for the validation and can have thresholds set by parameters. The listed features below does not always correspond to the latest implementation.

Description	Arguments	Diagnostic equation
Inverse velocity: Measured velocity has a different sign from the target velocity.	measured velocity $v$, target velocity $\hat{v}$, and velocity parameter $c$	$v \hat{v} < 0, \quad \lvert v \rvert > c$
Overspeed: Measured speed exceeds target speed significantly.	measured velocity $v$, target velocity $\hat{v}$, ratio parameter $r$, and offset parameter $c$	$\lvert v \rvert > (1 + r) \lvert \hat{v} \rvert + c$
Overrun estimation: estimate overrun even if decelerate by assumed rate.	assumed deceleration, assumed delay

Lateral jerk : invalid when the lateral jerk exceeds the configured threshold. The validation uses the vehicle’s velocity and steering angle rate to calculate the resulting lateral jerk. The calculation assumes constant velocity (acceleration is zero).
Deviation check between reference trajectory and predicted trajectory : invalid when the largest deviation between the predicted trajectory and reference trajectory is greater than the given threshold.
Yaw deviation: invalid when the difference between the yaw of the ego vehicle and the nearest (interpolated) trajectory yaw is greater than the given threshold.
- 2 thresholds are implemented, one to trigger a warning diagnostic, and one to trigger an error diagnostic.

trajectory_deviation

Inputs/Outputs

Inputs

The control_validator takes in the following inputs:

Name	Type	Description
`~/input/kinematics`	nav_msgs/Odometry	ego pose and twist
`~/input/reference_trajectory`	autoware_planning_msgs/Trajectory	reference trajectory which is outputted from planning module to to be followed
`~/input/predicted_trajectory`	autoware_planning_msgs/Trajectory	predicted trajectory which is outputted from control module

Outputs

It outputs the following:

Name	Type	Description
`~/output/validation_status`	control_validator/ControlValidatorStatus	validator status to inform the reason why the trajectory is valid/invalid
`/diagnostics`	diagnostic_msgs/DiagnosticStatus	diagnostics to report errors

Parameters

The following parameters can be set for the control_validator:

System parameters

Name	Type	Description	Default value
`publish_diag`	bool	if true, diagnostics msg is published.	true
`diag_error_count_threshold`	int	the Diag will be set to ERROR when the number of consecutive invalid trajectory exceeds this threshold. (For example, threshold = 1 means, even if the trajectory is invalid, the Diag will not be ERROR if the next trajectory is valid.)	true
`display_on_terminal`	bool	show error msg on terminal	true

Algorithm parameters

Thresholds

The input trajectory is detected as invalid if the index exceeds the following thresholds.

Name	Type	Description	Default value
`thresholds.max_distance_deviation`	double	invalid threshold of the max distance deviation between the predicted path and the reference trajectory [m]	1.0
`thresholds.lateral_jerk`	double	invalid threshold of the lateral jerk for steering rate validation [m/s^3]	10.0
`thresholds.rolling_back_velocity`	double	threshold velocity to validate the vehicle velocity [m/s]	0.5
`thresholds.over_velocity_offset`	double	threshold velocity offset to validate the vehicle velocity [m/s]	2.0
`thresholds.over_velocity_ratio`	double	threshold ratio to validate the vehicle velocity [*]	0.2
`thresholds.overrun_stop_point_dist`	double	threshold distance to overrun stop point [m]	0.8
`thresholds.acc_error_offset`	double	threshold ratio to validate the vehicle acceleration [*]	0.8
`thresholds.acc_error_scale`	double	threshold acceleration to validate the vehicle acceleration [m]	0.2
`thresholds.will_overrun_stop_point_dist`	double	threshold distance to overrun stop point [m]	1.0
`thresholds.assumed_limit_acc`	double	assumed acceleration for over run estimation [m]	5.0
`thresholds.assumed_delay_time`	double	assumed delay for over run estimation [m]	0.2
`thresholds.yaw_deviation_error`	double	threshold angle to validate the vehicle yaw related to the nearest trajectory yaw [rad]	1.0
`thresholds.yaw_deviation_warn`	double	threshold angle to trigger a WARN diagnostic [rad]	0.5

CHANGELOG

Changelog for package autoware_control_validator

0.47.0 (2025-08-11)

feat: change planning output topic name to /planning/trajectory (#11135)
- change planning output topic name to /planning/trajectory
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
fix(planning_validator): init validation status (#11119)
- fix(planning_validator): init validation status
* fix(control_validator): init validation status ---------
style(pre-commit): update to clang-format-20 (#11088) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
feat(control_validator): enhance trajectory validation with previous reference trajectory (#10939)
- feat(control_validator): enhance trajectory validation with previous reference trajectory
* fix(test_control_validator): update lateral deviation test cases to reflect validation status ---------
fix(autoware_control_validator): prevent division by zero in time calculation (#10926)
- fix(lateral_jerk_validator): prevent division by zero in time calculation
* fix(lateral_jerk_validator): improve stability by enforcing minimum time difference for calculations ---------
feat(control_validator): disable control validator error report when not in autonomous control (#10871)
- feat(control_validator): disable control validator error report when not in autonomous control
- also fix control validator launch
- fix: work with yaw validator; fix yaw validator missing in all valid; add a debug info
- chore: get rid of the yaw warn in is_all_valid
* chore: fix topic remapping in launch file ---------
feat(control_validator): 2 thresholds for the yaw deviation (warn/error) (#10876)
feat(control_validator): add yaw_deviation (#10872)
Contributors: Kyoichi Sugahara, Maxime CLEMENT, Mete Fatih Cırıt, Satoshi OTA, Yukihiro Saito, Yuxuan Liu

0.46.0 (2025-06-20)

0.45.0 (2025-05-22)

Merge remote-tracking branch 'origin/main' into tmp/notbot/bump_version_base
feat(control_validator): add lateral jerk validation (#10619)
- feat(control_validator): add steering rate validation and update parameters
- feat(lateral_jerk_validator): rename and implement lateral jerk validation logic
- Steering rate validation has been renamed to lateral jerk validation for clarity.
- Updated the comment to assume constant velocity and adjusted related parameters. ---------
refactor(control_validator): visualize stop reason to virtual wall (#10593)
- feat(control_validator): add error message generation based on validation status
- feat(control_validator): update push_virtual_wall method to include message display
* refactor(control_validator): update error messages for clarity in generate_error_message method ---------
chore(control_validator): update maintainer

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	rosidl_default_generators
	ament_cmake_auto
	autoware_cmake
	rosidl_default_runtime
	ament_cmake_ros
	ament_index_cpp
	ament_lint_auto
	autoware_lint_common
	autoware_test_utils
	autoware_adapi_specs
	autoware_control_msgs
	autoware_motion_utils
	autoware_planning_msgs
	autoware_signal_processing
	autoware_utils
	autoware_vehicle_info_utils
	diagnostic_updater
	geometry_msgs
	nav_msgs
	rclcpp
	rclcpp_components
	visualization_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

launch/control_validator.launch.xml
- - control_validator_param_path [default: $(find-pkg-share autoware_control_validator)/config/control_validator.param.yaml]
  - input_reference_trajectory [default: /planning/trajectory]
  - input_predicted_trajectory [default: /control/trajectory_follower/lateral/predicted_trajectory]
  - input_operational_mode_state [default: /api/operation_mode/state]

Messages

msg/ControlValidatorStatus.msg

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_control_validator` at Robotics Stack Exchange

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

autoware_control_validator package from autoware_universe repo

autoware_agnocast_wrapper autoware_auto_common autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_component_interface_tools autoware_component_interface_utils autoware_cuda_dependency_meta autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_path_distance_calculator autoware_polar_grid autoware_time_utils autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_command_gate autoware_control_performance_analysis autoware_control_validator autoware_external_cmd_selector autoware_joy_controller autoware_lane_departure_checker autoware_mpc_lateral_controller autoware_obstacle_collision_checker autoware_operation_mode_transition_manager autoware_pid_longitudinal_controller autoware_predicted_path_checker autoware_pure_pursuit autoware_shift_decider autoware_smart_mpc_trajectory_follower autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_control_evaluator autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples tier4_autoware_api_launch tier4_control_launch tier4_localization_launch tier4_map_launch tier4_perception_launch tier4_planning_launch tier4_sensing_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose2twist autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion autoware_bytetrack autoware_cluster_merger autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_range_splitter autoware_object_sorter autoware_object_velocity_splitter autoware_occupancy_grid_map_outlier_filter autoware_probabilistic_occupancy_grid_map autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_run_out_module autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_boundary_departure_prevention_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_diagnostics autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_livox_tag_filter autoware_carla_interface autoware_dummy_perception_publisher autoware_fault_injection autoware_learning_based_vehicle_model autoware_simple_planning_simulator autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_bluetooth_monitor autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_monitor autoware_component_state_monitor autoware_adapi_visualizers autoware_automatic_pose_initializer autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_utils autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_duplicated_node_checker autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor reaction_analyzer autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_traffic_light_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_datetime_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_system_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

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github

API Docs
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Package Summary

Tags	No category tags.
Version	0.47.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/autowarefoundation/autoware_universe.git
VCS Type	git
VCS Version	main
Last Updated	2025-08-16
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ros node for autoware_control_validator

Additional Links

No additional links.

Maintainers

Kyoichi Sugahara
Makoto Kurihara
Mamoru Sobue
Takayuki Murooka
Yuki Takagi

Authors

Kyoichi Sugahara
Takamasa Horibe
Makoto Kurihara

Control Validator

The control_validator is a module that checks the validity of the output of the control component. The status of the validation can be viewed in the /diagnostics topic.

control_validator

Supported features

The following features are supported for the validation and can have thresholds set by parameters. The listed features below does not always correspond to the latest implementation.

Description	Arguments	Diagnostic equation
Inverse velocity: Measured velocity has a different sign from the target velocity.	measured velocity $v$, target velocity $\hat{v}$, and velocity parameter $c$	$v \hat{v} < 0, \quad \lvert v \rvert > c$
Overspeed: Measured speed exceeds target speed significantly.	measured velocity $v$, target velocity $\hat{v}$, ratio parameter $r$, and offset parameter $c$	$\lvert v \rvert > (1 + r) \lvert \hat{v} \rvert + c$
Overrun estimation: estimate overrun even if decelerate by assumed rate.	assumed deceleration, assumed delay

Lateral jerk : invalid when the lateral jerk exceeds the configured threshold. The validation uses the vehicle’s velocity and steering angle rate to calculate the resulting lateral jerk. The calculation assumes constant velocity (acceleration is zero).
Deviation check between reference trajectory and predicted trajectory : invalid when the largest deviation between the predicted trajectory and reference trajectory is greater than the given threshold.
Yaw deviation: invalid when the difference between the yaw of the ego vehicle and the nearest (interpolated) trajectory yaw is greater than the given threshold.
- 2 thresholds are implemented, one to trigger a warning diagnostic, and one to trigger an error diagnostic.

trajectory_deviation

Inputs/Outputs

Inputs

The control_validator takes in the following inputs:

Name	Type	Description
`~/input/kinematics`	nav_msgs/Odometry	ego pose and twist
`~/input/reference_trajectory`	autoware_planning_msgs/Trajectory	reference trajectory which is outputted from planning module to to be followed
`~/input/predicted_trajectory`	autoware_planning_msgs/Trajectory	predicted trajectory which is outputted from control module

Outputs

It outputs the following:

Name	Type	Description
`~/output/validation_status`	control_validator/ControlValidatorStatus	validator status to inform the reason why the trajectory is valid/invalid
`/diagnostics`	diagnostic_msgs/DiagnosticStatus	diagnostics to report errors

Parameters

The following parameters can be set for the control_validator:

System parameters

Name	Type	Description	Default value
`publish_diag`	bool	if true, diagnostics msg is published.	true
`diag_error_count_threshold`	int	the Diag will be set to ERROR when the number of consecutive invalid trajectory exceeds this threshold. (For example, threshold = 1 means, even if the trajectory is invalid, the Diag will not be ERROR if the next trajectory is valid.)	true
`display_on_terminal`	bool	show error msg on terminal	true

Algorithm parameters

Thresholds

The input trajectory is detected as invalid if the index exceeds the following thresholds.

Name	Type	Description	Default value
`thresholds.max_distance_deviation`	double	invalid threshold of the max distance deviation between the predicted path and the reference trajectory [m]	1.0
`thresholds.lateral_jerk`	double	invalid threshold of the lateral jerk for steering rate validation [m/s^3]	10.0
`thresholds.rolling_back_velocity`	double	threshold velocity to validate the vehicle velocity [m/s]	0.5
`thresholds.over_velocity_offset`	double	threshold velocity offset to validate the vehicle velocity [m/s]	2.0
`thresholds.over_velocity_ratio`	double	threshold ratio to validate the vehicle velocity [*]	0.2
`thresholds.overrun_stop_point_dist`	double	threshold distance to overrun stop point [m]	0.8
`thresholds.acc_error_offset`	double	threshold ratio to validate the vehicle acceleration [*]	0.8
`thresholds.acc_error_scale`	double	threshold acceleration to validate the vehicle acceleration [m]	0.2
`thresholds.will_overrun_stop_point_dist`	double	threshold distance to overrun stop point [m]	1.0
`thresholds.assumed_limit_acc`	double	assumed acceleration for over run estimation [m]	5.0
`thresholds.assumed_delay_time`	double	assumed delay for over run estimation [m]	0.2
`thresholds.yaw_deviation_error`	double	threshold angle to validate the vehicle yaw related to the nearest trajectory yaw [rad]	1.0
`thresholds.yaw_deviation_warn`	double	threshold angle to trigger a WARN diagnostic [rad]	0.5

CHANGELOG

Changelog for package autoware_control_validator

0.47.0 (2025-08-11)

feat: change planning output topic name to /planning/trajectory (#11135)
- change planning output topic name to /planning/trajectory
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
fix(planning_validator): init validation status (#11119)
- fix(planning_validator): init validation status
* fix(control_validator): init validation status ---------
style(pre-commit): update to clang-format-20 (#11088) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
feat(control_validator): enhance trajectory validation with previous reference trajectory (#10939)
- feat(control_validator): enhance trajectory validation with previous reference trajectory
* fix(test_control_validator): update lateral deviation test cases to reflect validation status ---------
fix(autoware_control_validator): prevent division by zero in time calculation (#10926)
- fix(lateral_jerk_validator): prevent division by zero in time calculation
* fix(lateral_jerk_validator): improve stability by enforcing minimum time difference for calculations ---------
feat(control_validator): disable control validator error report when not in autonomous control (#10871)
- feat(control_validator): disable control validator error report when not in autonomous control
- also fix control validator launch
- fix: work with yaw validator; fix yaw validator missing in all valid; add a debug info
- chore: get rid of the yaw warn in is_all_valid
* chore: fix topic remapping in launch file ---------
feat(control_validator): 2 thresholds for the yaw deviation (warn/error) (#10876)
feat(control_validator): add yaw_deviation (#10872)
Contributors: Kyoichi Sugahara, Maxime CLEMENT, Mete Fatih Cırıt, Satoshi OTA, Yukihiro Saito, Yuxuan Liu

0.46.0 (2025-06-20)

0.45.0 (2025-05-22)

Merge remote-tracking branch 'origin/main' into tmp/notbot/bump_version_base
feat(control_validator): add lateral jerk validation (#10619)
- feat(control_validator): add steering rate validation and update parameters
- feat(lateral_jerk_validator): rename and implement lateral jerk validation logic
- Steering rate validation has been renamed to lateral jerk validation for clarity.
- Updated the comment to assume constant velocity and adjusted related parameters. ---------
refactor(control_validator): visualize stop reason to virtual wall (#10593)
- feat(control_validator): add error message generation based on validation status
- feat(control_validator): update push_virtual_wall method to include message display
* refactor(control_validator): update error messages for clarity in generate_error_message method ---------
chore(control_validator): update maintainer

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	rosidl_default_generators
	ament_cmake_auto
	autoware_cmake
	rosidl_default_runtime
	ament_cmake_ros
	ament_index_cpp
	ament_lint_auto
	autoware_lint_common
	autoware_test_utils
	autoware_adapi_specs
	autoware_control_msgs
	autoware_motion_utils
	autoware_planning_msgs
	autoware_signal_processing
	autoware_utils
	autoware_vehicle_info_utils
	diagnostic_updater
	geometry_msgs
	nav_msgs
	rclcpp
	rclcpp_components
	visualization_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

launch/control_validator.launch.xml
- - control_validator_param_path [default: $(find-pkg-share autoware_control_validator)/config/control_validator.param.yaml]
  - input_reference_trajectory [default: /planning/trajectory]
  - input_predicted_trajectory [default: /control/trajectory_follower/lateral/predicted_trajectory]
  - input_operational_mode_state [default: /api/operation_mode/state]

Messages

msg/ControlValidatorStatus.msg

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_control_validator` at Robotics Stack Exchange

API Docs Browse Code Wiki

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

autoware_control_validator package from autoware_universe repo

autoware_agnocast_wrapper autoware_auto_common autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_component_interface_tools autoware_component_interface_utils autoware_cuda_dependency_meta autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_path_distance_calculator autoware_polar_grid autoware_time_utils autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_command_gate autoware_control_performance_analysis autoware_control_validator autoware_external_cmd_selector autoware_joy_controller autoware_lane_departure_checker autoware_mpc_lateral_controller autoware_obstacle_collision_checker autoware_operation_mode_transition_manager autoware_pid_longitudinal_controller autoware_predicted_path_checker autoware_pure_pursuit autoware_shift_decider autoware_smart_mpc_trajectory_follower autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_control_evaluator autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples tier4_autoware_api_launch tier4_control_launch tier4_localization_launch tier4_map_launch tier4_perception_launch tier4_planning_launch tier4_sensing_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose2twist autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion autoware_bytetrack autoware_cluster_merger autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_range_splitter autoware_object_sorter autoware_object_velocity_splitter autoware_occupancy_grid_map_outlier_filter autoware_probabilistic_occupancy_grid_map autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_run_out_module autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_boundary_departure_prevention_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_diagnostics autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_livox_tag_filter autoware_carla_interface autoware_dummy_perception_publisher autoware_fault_injection autoware_learning_based_vehicle_model autoware_simple_planning_simulator autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_bluetooth_monitor autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_monitor autoware_component_state_monitor autoware_adapi_visualizers autoware_automatic_pose_initializer autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_utils autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_duplicated_node_checker autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor reaction_analyzer autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_traffic_light_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_datetime_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_system_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

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Package Summary

Tags	No category tags.
Version	0.47.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/autowarefoundation/autoware_universe.git
VCS Type	git
VCS Version	main
Last Updated	2025-08-16
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ros node for autoware_control_validator

Additional Links

No additional links.

Maintainers

Kyoichi Sugahara
Makoto Kurihara
Mamoru Sobue
Takayuki Murooka
Yuki Takagi

Authors

Kyoichi Sugahara
Takamasa Horibe
Makoto Kurihara