Autoware Diffusion Planner

Overview

The Autoware Diffusion Planner is a trajectory generation module for autonomous vehicles, designed to work within the Autoware ecosystem. It leverages the Diffusion Planner model, as described in the paper “Diffusion-Based Planning for Autonomous Driving with Flexible Guidance” by Zheng et al.

This planner generates smooth, feasible, and safe trajectories by considering:

• Dynamic and static obstacles
• Vehicle kinematics
• User-defined constraints
• Lanelet2 map context
• Traffic signals and speed limits

It is implemented as a ROS 2 component node, making it easy to integrate into Autoware-based stacks. The node is aimed at working within the proposed Autoware new planning framework.

How to use

(1) Prerequisites

Make sure that the directory specified in planning/autoware_diffusion_planner/config/diffusion_planner.param.yaml points to the correct model version and contains the required model weight and parameter files.

$ ls ~/autoware_data/diffusion_planner/v3.0/
diffusion_planner.onnx diffusion_planner.param.json

This can be downloaded from setup-dev-env.sh.

(2) Modify launch files

Currently, some launch files must be changed to run the planning simulator with autoware_diffusion_planner.

```diff diff –git a/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml b/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml — a/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml @@ -6,7 +6,7 @@ enable_overshoot_emergency: false enable_large_tracking_error_emergency: true enable_slope_compensation: true

• enable_keep_stopped_until_steer_convergence: true

• enable_keep_stopped_until_steer_convergence: false

  state transition

  drive_state_stop_dist: 0.5 diff –git a/autoware_launch/config/planning/scenario_planning/common/common.param.yaml b/autoware_launch/config/planning/scenario_planning/common/common.param.yaml — a/autoware_launch/config/planning/scenario_planning/common/common.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/common/common.param.yaml @@ -1,6 +1,6 @@ /**: ros__parameters:

• max_vel: 4.17 # max velocity limit [m/s]

• max_vel: 22.2 # max velocity limit [m/s]

  constraints param for normal driving

  normal: diff –git a/autoware_launch/config/system/diagnostics/planning.yaml b/autoware_launch/config/system/diagnostics/planning.yaml — a/autoware_launch/config/system/diagnostics/planning.yaml +++ b/autoware_launch/config/system/diagnostics/planning.yaml @@ -11,19 +11,7 @@ units: - { type: link, link: /autoware/planning/trajectory_validation }

• path: /autoware/planning/trajectory_validation
• type: and
• list:
• • { type: link, link: /autoware/planning/trajectory_validation/finite }
• • { type: link, link: /autoware/planning/trajectory_validation/interval }
• • { type: link, link: /autoware/planning/trajectory_validation/curvature }
• • { type: link, link: /autoware/planning/trajectory_validation/angle }
• • { type: link, link: /autoware/planning/trajectory_validation/lateral_acceleration }
• • { type: link, link: /autoware/planning/trajectory_validation/acceleration }
• • { type: link, link: /autoware/planning/trajectory_validation/deceleration }
• • { type: link, link: /autoware/planning/trajectory_validation/steering }
• • { type: link, link: /autoware/planning/trajectory_validation/steering_rate }
• • { type: link, link: /autoware/planning/trajectory_validation/velocity_deviation }
• • { type: link, link: /autoware/planning/trajectory_validation/trajectory_shift }

• type: ok

• path: /autoware/planning/routing/state type: diag diff –git a/tier4_universe_launch/tier4_planning_launch/launch/planning.launch.xml b/tier4_universe_launch/tier4_planning_launch/launch/planning.launch.xml — a/tier4_universe_launch/tier4_planning_launch/launch/planning.launch.xml +++ b/tier4_universe_launch/tier4_planning_launch/launch/planning.launch.xml @@ -47,12 +47,34 @@ </include> </group>

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Changelog for package autoware_diffusion_planner

0.50.0 (2026-02-14)

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

• docs(diffusion_planner): fix README.md (#12067)

  • Fixed README.md

  * Apply suggestion from \@Copilot Co-authored-by: Copilot <<175728472+Copilot@users.noreply.github.com>>

  * Apply suggestion from \@Copilot Co-authored-by: Copilot <<175728472+Copilot@users.noreply.github.com>>

  * Deleted the change of [launch_traffic_light_module]{.title-ref} ---------Co-authored-by: Copilot <<175728472+Copilot@users.noreply.github.com>>

• fix(diffusion_planner): fix the stopping logic (#12041) Fixed the stopping logic

• refactor(diffusion_planner): change [ego_current_state]{.title-ref} class to a function (#12022)

  • Refactored [ego_current_state]{.title-ref}
  • Added [CreateEgoCurrentState]{.title-ref} test
  • Added [const]{.title-ref}
  • Sorted include files

  * Removed [std::abs]{.title-ref} from [linear_vel]{.title-ref} ---------

• refactor(diffusion_planner): refactor [replicate_for_batch]{.title-ref} (#12016)

  • Fixed break lines
  • Moved [replicate_for_batch]{.title-ref} from diffusion_planner_node.hpp into utils.hpp
  • Fixed comments
  • Added [const]{.title-ref}

  * Applied the formatter ---------

• refactor(diffusion_planner): refactor [AgentState]{.title-ref} (#11946)

  • Refactored [AgentState]{.title-ref}

  * Fixed to use rotation_matrix_to_cos_sin ---------

• refactor(diffusion_planner): refactor the transformation to map coordinates (#11931)

  • Refactored transform to map
  • Fixed

  * Added 0.0 ---------

• chore(autoware_diffusion_planner): remove cudnn dependency (#11901)

• feat(diffusion_planner): support reconfiguration [onnx_model_path]{.title-ref} (#11870)

  • Added tensorrt_inference.hpp/cpp
  • Added [#include <unordered_map>]{.title-ref}
  • Added [num_elements]{.title-ref}

  * Fixed converting float to bool ---------

• refactor(diffusion_planner): refactoring of map processing (#11869)

  • Removed [traffic_rules_ptr_]{.title-ref}
  • Removed [routing_graph_ptr_]{.title-ref}
  • Removed [is_map_loaded_]{.title-ref}
  • Removed [remove_const]{.title-ref}

  * Applied [pre-commit run -a]{.title-ref} ---------

• feat(diffusion_planner): diffusion_planner v3 (#11849)

  • v3.0
  • Fixed the description of [shift_x]{.title-ref}
  • Fixed the default value of [turn_indicator_keep_offset]{.title-ref}
  • Added comments to turn_indicator_manager.hpp
  • Fixed [keep_offset]{.title-ref} as a parameter
  • Added [const]{.title-ref}
  • Added [static_cast]{.title-ref}
  • Added a comment

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