Planning Data Analyzer

Overview

This package provides offline evaluation tools for trajectory planning performance analysis from recorded rosbag data.

Open-Loop Evaluation

Open-loop evaluation computes both trajectory error metrics and planning-quality subscores.

Trajectory Error Metrics

For each evaluated trajectory, the following are computed:

• ADE
• FDE
• AHE
• FHE
• lateral deviation
• longitudinal deviation
• TTC trace
• per-horizon metrics (full, and configured horizons such as 1.0s, 2.0s, 4.0s, 8.0s)

Plnnaing Quality Score (EPDMS)

To show multi-facet (comfort, progress, safety) quality of generated trajectory, EPDMS (Extended Predictive Driver Model Score) is computed based on the multiple subscores.

Two variant topics are exported:

• synthetic_epdms_raw
• synthetic_epdms_human_filtered

EPDMS’s Subscores

EPDMS is obtained from combining the following subscores:

• history_comfort
• extended_comfort
• time_to_collision_within_bound
• lane_keeping
• ego_progress
• drivable_area_compliance
• no_at_fault_collision
• driving_direction_compliance
• traffic_light_compliance

These subscores are exported both as per-trajectory outputs and as aggregate statistics.

Quick Start

Open Loop Evaluation

ros2 run autoware_planning_data_analyzer autoware_planning_data_analyzer_node --ros-args \
  -p bag_path:=~/my_bag \
  -p evaluation.mode:=open_loop \
  -p trajectory_topic:=/planning/trajectory \
  -p json_output_path:=~/results.json

Output Files

• evaluation_result.json - Detailed metrics (ADE, FDE, TTC, etc.) and summary statistics
• evaluation_output.bag/ - Evaluation metrics as rosbag for visualization
• debug_images/*.png - Trajectory visualization (with --viz flag)

Parameters

Key parameters in config/planning_data_analyzer.param.yaml:

• evaluation.mode: Evaluation mode (open_loop)
• evaluation_interval_ms: Sampling interval (default: 100ms)
• sync_tolerance_ms: Time synchronization tolerance (default: 100ms)
• trajectory_topic: Trajectory topic to evaluate
• open_loop.*: Open-loop specific settings

For More Information

• Configuration: config/planning_data_analyzer.param.yaml
• Launch files: launch/

Changelog for package autoware_planning_data_analyzer

0.6.0 (2026-02-14)

• feat: add Jazzy support for rosbag APIs (#347)
• Contributors: Ryohsuke Mitsudome

0.5.0 (2025-12-30)

• chore(planning_data_analyzer): add output dir in launch (#327)

  • add output dir in launch

  * change trajectory topic in yaml ---------

• feat(planning_data_analyzer): update function to evaluate open loop simulation (#325)

  • update package based on new planning framework repositry
  • remove unnecessary files
  • fix dependency
  • fix pre-commit
  • remove unneccesary files
  • fix file names
  • fix pre-commit for utils
  • fix bag file path
  • fix pre-commit for utils test

  * add copyright for python scripts ---------

• chore(autoware_planning_data_analyzer): update maintainer (#319) change and add maintainer

• Contributors: Go Sakayori

0.4.0 (2025-11-16)

0.3.0 (2025-08-11)

• chore: sync files (#214)
• Contributors: awf-autoware-bot[bot]

0.2.0 (2025-03-24)

0.1.0 (2025-01-28)

• unify version to 0.0.0

• feat(autoware_planning_data_analyzer)!: replace tier4_debug_msgs with tier4_internal_debug_msgs (#199)

• chore: sync files (#11) Co-authored-by: github-actions <<github-actions@github.com>> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

• refactor(global_parameter_loader): prefix package and namespace with autoware (#159)

• refactor(glog_component): prefix package and namespace with autoware (#158)

• perf(planning_data_analyzer): improve performance of weight grid search (#116)

  • perf(planning_data_analyzer): improve weight search logic
  • perf: multithread

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

• feat(planning_data_analyzer): add new package (#103)

  • feat(planning_data_analyzer): add new package
  • style(pre-commit): autofix
  • refactor: use map
  • style(pre-commit): autofix
  • fix: print
  • style(pre-commit): autofix
  • refactor: small change
  • feat: weight grid search
  • feat: add time delta
  • style(pre-commit): autofix
  • fix: typo

  * fix: ignore spell check for foxglove json ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

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