Trajectory Checker

The intersection_collision_checker is a plugin module of autoware_planning_validator node. It is responsible for validating the planning trajectory before it is published.

Supported features

The following features are supported for trajectory validation and can have thresholds set by parameters:

• Invalid field : e.g. Inf, Nan
• Trajectory points interval : invalid if any of the distance of trajectory points is too large
• Curvature : invalid if the trajectory has too sharp turns that is not feasible for the given vehicle kinematics
• Relative angle : invalid if the yaw angle changes too fast in the sequence of trajectory points

• Lateral acceleration : invalid if the expected lateral acceleration/deceleration is too large. Lateral acceleration is calculated using the formula:

  \[a_{lat} = v_{lon}^2 * \kappa\]

  Where $v_{lon}$ is longitudinal velocity and $\kappa$ is curvature. Since the acceleration embedded in path points is perpendicular to the derived lateral acceleration, projections are not considered. The velocity and acceleration assigned to each point are directed toward the next path point.

• Lateral jerk : invalid if the rate of change of lateral acceleration is too large. Lateral jerk is calculated using the formula:

  \[j_{lat} = v_{lon}^3 * \frac{d\kappa}{ds} + 3 * v_{lon}^2 * a_{lon} * \kappa\]

  Where $v_{lon}$ is longitudinal velocity, $\kappa$ is curvature, $a_{lon}$ is longitudinal acceleration, and $\frac{d\kappa}{ds}$ is the rate of curvature change with respect to distance. In this implementation, the curvature change ($\frac{d\kappa}{ds}$) is not considered, simplifying the calculation to only the second term. The lateral jerk represents how quickly the lateral acceleration changes, which affects ride comfort and vehicle stability.

• Longitudinal acceleration/deceleration : invalid if the acceleration/deceleration in the trajectory point is too large
• Steering angle : invalid if the expected steering value is too large estimated from trajectory curvature
• Steering angle rate : invalid if the expected steering rate value is too large
• Velocity deviation : invalid if the planning velocity is too far from the ego velocity
• Distance deviation : invalid if the ego is too far from the trajectory
• Longitudinal distance deviation : invalid if the trajectory is too far from ego in longitudinal direction
• Forward trajectory length : invalid if the trajectory length is not enough to stop within a given deceleration
• Yaw deviation : invalid if the difference between the ego yaw and closest trajectory yaw is too large.
  • in general planning is not responsible for keeping a low yaw deviation, so this metric is checked only when the closest trajectory yaw changes by more than th_trajectory_yaw_shift between successive trajectories.
• Trajectory Shift : invalid if the lat./long. distance between two consecutive trajectories near the Ego exceed the thresholds.

Parameters

The following parameters are used to configure the different validation checks performed by trajectory_checker:

Interval Check

Curvature Check

Relative Angle Check

Lateral Acceleration Check

Max Longitudinal Acceleration Check

Min Longitudinal Acceleration Check

Lateral Jerk Check

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Changelog for package autoware_planning_validator_trajectory_checker

0.47.0 (2025-08-11)

• refactor(planning_validator): refactor planning validator configuration and error handling (#11081)

  • refactor trajectory check error handling
  • define set_diag_status function for each module locally

  * update documentation ---------

• 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>

• fix(planning_validator): fix conflict between trajectory shift and distance deviation checks (#10799)

  • use global is_critical_error flag for trajectory diagnostics update
  • add warning to readme

  * Update planning/planning_validator/autoware_planning_validator/README.md ---------

• fix(planning_validator_trajectory_checker): set is_critical_error flag to false at start of validation (#10912) set is_critical_error flag to false at start of validation

• fix(planning_validator): check the yaw deviation of the initial trajectory (#10878)

• Contributors: Maxime CLEMENT, Mete Fatih Cırıt, mkquda

0.46.0 (2025-06-20)

• Merge remote-tracking branch 'upstream/main' into tmp/TaikiYamada/bump_version_base

• feat(planning_validator): add condition to check the yaw deviation (#10818)

• fix(planning_validator): fix the lateral distance calculation (#10801)

• feat(planning_validator): subscribe additional topic for collision detection (#10745)

  • feat(planning_validator): subscribe pointcloud
  • feat(planning_validator): subscribe route and map
  • fix(planning_validator): load glog component

  * fix: unexpected test fail ---------

• refactor(planning_validator): implement plugin structure for planning validator node (#10571)

  * chore(sync-files.yaml): not synchronize [github-release.yaml]{.title-ref} (#1776) not sync github-release

  • create planning latency validator plugin module

  * Revert "chore(sync-files.yaml): not synchronize [github-release.yaml]{.title-ref} (#1776)" This reverts commit 871a8540ade845c7c9a193029d407b411a4d685b.

  • create planning trajectory validator plugin module

  * Update planning/planning_validator/autoware_planning_validator/src/manager.cpp Co-authored-by: Satoshi OTA <<44889564+satoshi-ota@users.noreply.github.com>>

  * Update planning/planning_validator/autoware_planning_validator/include/autoware/planning_validator/node.hpp Co-authored-by: Satoshi OTA <<44889564+satoshi-ota@users.noreply.github.com>>

  • minor fix
  • refactor implementation
  • uncomment lines for adding pose markers
  • fix CMakeLists
  • add comment
  • update planning launch xml

  * Update planning/planning_validator/autoware_planning_latency_validator/include/autoware/planning_latency_validator/latency_validator.hpp Co-authored-by: Satoshi OTA

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