Shift Decider

Purpose

autoware_shift_decider is a module to decide shift from ackermann control command.

Inner-workings / Algorithms

Flow chart

@startuml
skinparam monochrome true

title update current shift
start
if (absolute target velocity is less than threshold) then (yes)
    :set previous shift;
else(no)
if (target velocity is positive) then (yes)
    :set shift DRIVE;
else
    :set shift REVERSE;
endif
endif
    :publish current shift;
note right
    publish shift for constant interval
end note
stop
@enduml

Algorithms

Inputs / Outputs

Input

Output

Parameters

none.

Assumptions / Known limits

TBD.

Changelog for package autoware_shift_decider

0.53.0 (2026-09-29)

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

• refactor(control): move node design files into each package (#13100) Co-authored-by: Claude Opus 5 (1M context) <<noreply@anthropic.com>>

• feat(shift_decider): apply [agnocast_wrapper::Node]{.title-ref} to [autoware_shift_decider]{.title-ref} (#12918)

  * feat(shift_decider): apply agnocast_wrapper::Node to autoware_shift_decider Co-authored-by: Koichi Imai <<koichi.imai.2@tier4.jp>>

  • refactor: migrate to polling AIP
  • style(pre-commit): autofix

  * refactor: subscriber ---------Co-authored-by: kobayu858 <<yutaro.kobayashi.2@tier4.jp>> Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>

• Contributors: Koichi Imai, Ryohsuke Mitsudome, Taekjin LEE

0.52.0 (2026-06-30)

0.51.0 (2026-05-01)

• Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
• refactor(autoware_universe): use autoware_ament_auto_package in planning packages (#12291) Co-authored-by: github-actions <<github-actions@github.com>>
• Contributors: Vishal Chauhan, github-actions

0.50.0 (2026-02-14)

0.49.0 (2025-12-30)

0.48.0 (2025-11-18)

• Merge remote-tracking branch 'origin/main' into humble
• feat(shift_decider): integrate generate_parameter_library (#8871)
• Contributors: Mitsuhiro Sakamoto, Ryohsuke Mitsudome

0.47.1 (2025-08-14)

0.47.0 (2025-08-11)

0.46.0 (2025-06-20)

0.45.0 (2025-05-22)

0.44.2 (2025-06-10)

0.44.1 (2025-05-01)

0.44.0 (2025-04-18)

0.43.0 (2025-03-21)

• Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
• chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
• Contributors: Hayato Mizushima, Yutaka Kondo

0.42.0 (2025-03-03)

• Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
• feat(autoware_utils): replace autoware_universe_utils with autoware_utils (#10191)
• Contributors: Fumiya Watanabe, 心刚

0.41.2 (2025-02-19)

• chore: bump version to 0.41.1 (#10088)
• Contributors: Ryohsuke Mitsudome

0.41.1 (2025-02-10)

0.41.0 (2025-01-29)

0.40.0 (2024-12-12)

• Revert "chore(package.xml): bump version to 0.39.0 (#9587)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.

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