autoware_simpl_prediction

Purpose

The autoware_simpl_prediction is used for 3D object motion prediction based on ML-based model called SIMPL.

Inner-workings / Algorithms

The implementation bases on SIMPL [1] [2] work. It uses TensorRT library for data process and network interface.

Workflow overview of this node is as follows:

flowchart TD
    In1@{ shape: card, label: "~/input/objects" } -- autoware_perception_msgs::msg::TrackedObjects --> Callback1@{ shape: rect, label: "SimplNode::callback(...)" }
    Callback1 --> B@{ shape: stadium, label: "Start measuring Processing Time" }

    In2@{ shape: card, label: "/localization/kinematic_state" } -- nav_msgs::msg::Odometry --> C
    B --> C@{ shape: subproc, label: "SimplNode::subscribe_ego(...)" }

    In3@{ shape: card, label: "~/input/vector_map" } -- "autoware_map_msgs::msg::LaneletMapBin" --> Callback2@{ shape: rect, label: "SimplNode::on_map(...)" }
    Callback2 --> X@{ shape: subproc, label: "LaneletConverter::convert(...)" }

    C -->|✅| D@{ shape: subproc, label: "LaneletConverter::polylines()" }
    C -->|❌| Z1@{ shape: curv-trap, label: "⚠️WARNING: Failed to subscribe ego" } --> END@{ shape: stadium }

    D -->|✅| E@{ shape: subproc, label: "SimplNode::update_history(...)" }
    D -->|❌| Z2@{ shape: curv-trap, label: "⚠️WARNING: No map points" } --> END

    E --> F@{ shape: subproc, label: "PreProcessor::process(...)" }
    F --> G@{ shape: subproc, label: "TrtSimpl::do_inference(...)" }

    G -->|✅| I@{ shape: subproc, label: "PostProcessor::process(...)" } --> J@{ shape: stadium, label: "Publish Predicted Objects" }
    G -->|❌| Z3@{ shape: curv-trap, label: "⚠️ERROR: Inference failed" } --> H

    J -- autoware_perception_msgs::msg::PredictedObjects --> Out1@{ shape: card, label: "~/output/objects" }
    J --> H@{ shape: stadium, label: "Publish Processing & Cyclic Time" }

    H -- autoware_internal_debug_msgs::msg::Float64Stamped --> Out3@{ shape: card, label: "~/debug/cyclic_time_ms" }
    H -- autoware_internal_debug_msgs::msg::Float64Stamped --> Out2@{ shape: card, label: "~/debug/processing_time_ms" }

    H --> END

Inputs Representation

• $X_A\in R^{N\times D_{agent}\times T_{past}}$: Agent histories input.
• $X_M\in R^{K\times P\times D_{map}}$: Map points input.
• $X_{RPE}\in R^{(N+K)\times (N+K)\times D_{rpe}}$: Relative pose encoding input.

Outputs Representation

• $P_{score}\in R^{N\times M}$: Predicted scores for each agent and mode.
• $P_{trajectory}\in R^{N\times M\times T_{future}\times D_{trajectory}}$: Predicted trajectories for each agent and mode.
  • Where, $D_{trajectory}$ is $(x, y, v_x, v_y)$ in the agent local coordinate frame.

Inputs / Outputs

Inputs

Outputs

Debug Outputs

Parameters

{{ json_to_markdown(“perception/autoware_simpl_prediction/schema/simpl.schema.json”) }}

[WIP] Model Training / Deployment

Now we are preparing a library to train and deploy SIMPL and other ML models featuring motion prediction tasks.

Testing

Unit tests are provided and can be run with:

colcon test --packages-select autoware_simpl
colcon test-result --all

To print the test’s details with while the tests are being run, use the --event-handlers console_cohesion+ option to print the details directly to the console:

```bash colcon test –event-handlers console_cohesion+ –packages-select autoware_simpl

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Changelog for package autoware_simpl_prediction

0.53.0 (2026-09-29)

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

• refactor(perception): move node design files into each package (#13104) Co-authored-by: Claude Opus 5 (1M context) <<noreply@anthropic.com>>

• chore(pre-commit): update clang-format to v22.1.5 (#13126)

  • chore(pre-commit): update clang-format to v22.1.5

  * style(pre-commit): autofix ---------

• Contributors: Mete Fatih Cırıt, 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

• feat: default artifact paths to ~/autoware_data/ml_models (#12523) feat(launches,configs): default artifact paths to ~/autoware_data/ml_models Roll every per-package [data_path]{.title-ref} / [model_path]{.title-ref} launch-arg default from [$(env HOME)/autoware_data[/...]]{.title-ref} to [$(env HOME)/autoware_data/ml_models[/...]]{.title-ref} so standalone universe launches resolve artifacts under the new [~/autoware_data/ml_models/]{.title-ref} layout (autowarefoundation/autoware#7068). When invoked through autoware_launch the parent overrides cascade and already pin the new root (autowarefoundation/autoware_launch#1835); this commit closes the gap for users who launch a perception / localization / sensing / planning component directly with [ros2 launch <pkg>]{.title-ref}. 22 launch files updated (one-line default change each):

  • e2e/autoware_tensorrt_vad/launch/vad_carla_tiny.launch.xml
  • localization/yabloc/yabloc_pose_initializer/launch/yabloc_pose_initializer.launch.xml
  • perception/autoware_bevfusion/launch/bevfusion.launch.xml
  • perception/autoware_camera_streampetr/launch/streampetr.launch.xml
  • perception/autoware_image_projection_based_fusion/launch/pointpainting_fusion.launch.xml
  • perception/autoware_lidar_apollo_instance_segmentation/launch/lidar_apollo_instance_segmentation.launch.xml
  • perception/autoware_lidar_centerpoint/launch/lidar_centerpoint.launch.xml
  • perception/autoware_lidar_frnet/launch/lidar_frnet.launch.xml
  • perception/autoware_lidar_transfusion/launch/lidar_transfusion.launch.xml
  • perception/autoware_ptv3/launch/ptv3.launch.xml
  • perception/autoware_shape_estimation/launch/shape_estimation.launch.xml
  • perception/autoware_simpl_prediction/launch/simpl.launch.xml
  • perception/autoware_tensorrt_bevdet/launch/tensorrt_bevdet.launch.xml
  • perception/autoware_tensorrt_bevformer/launch/bevformer.launch.xml
  • perception/autoware_tensorrt_yolox/launch/{yolox_traffic_light_detector,yolox_tiny,yolox_s_plus_opt}.launch.xml
  • perception/autoware_traffic_light_classifier/launch/{car,pedestrian}_traffic_light_classifier.launch.xml
  • perception/autoware_traffic_light_fine_detector/launch/traffic_light_fine_detector.launch.xml
  • planning/autoware_diffusion_planner/launch/diffusion_planner.launch.xml

  - sensing/autoware_calibration_status_classifier/launch/calibration_status_classifier.launch.xml Drive-by README and test fixes:

  - e2e/autoware_tensorrt_vad/{README.md,docs/design.md}: also migrate the [$HOME/autoware_map/Town01]{.title-ref} examples to [$HOME/autoware_data/maps/Town01]{.title-ref}.

  - localization/yabloc/{README.md,yabloc_pose_initializer/README.md}: also migrate [$HOME/autoware_map/sample-map-rosbag]{.title-ref} to [$HOME/autoware_data/maps/demos/sample-map-rosbag]{.title-ref}.

  - control/autoware_smart_mpc_trajectory_follower/README.md: migrate the [map_path:=$HOME/autoware_map/sample-map-planning]{.title-ref} example to [$HOME/autoware_data/maps/demos/sample-map-planning]{.title-ref}.

  - simulator/autoware_carla_interface/README.md: migrate every [$HOME/autoware_map/Town01/...]{.title-ref} reference to [$HOME/autoware_data/maps/Town01/...]{.title-ref}.

  • perception/{autoware_bevfusion,autoware_image_projection_based_fusion,autoware_lidar_centerpoint,autoware_tensorrt_bevformer}/README.md: copy-paste examples updated to [~/autoware_data/ml_models/<pkg>]{.title-ref}.
  • perception/autoware_camera_streampetr/config/ml_package_camera_streampetr.param.yaml: header comment updated.
  • planning/autoware_diffusion_planner/README.md: prerequisites snippet updated.

  - sensing/autoware_calibration_status_classifier/test/{test_model_inference,test_calibration_status_classifier}.cpp: hardcoded fallback ONNX path updated. Users on the legacy layout can pin the old root with [data_path:=$HOME/autoware_data]{.title-ref} (or the per-package equivalent) on the command line. Refs:

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