autoware_traffic_light_arbiter

Purpose

This package receives traffic signals from perception and external (e.g., V2X) components and combines them using either a confidence-based or a external-preference based approach.

TrafficLightArbiter

A node that merges traffic light/signal state from image recognition and external (e.g., V2X) systems to provide to a planning component. Merging is only applied to elements in the TrafficLightGroup msg, not to predictions.

Signal Match Validator

When enable_signal_matching is set to true, this node validates the match between perception signals and external signals. The table below outlines how the matching process determines the output based on the combination of perception and external signal colors. Each cell represents the outcome when a specific color from a perception signal (columns) intersects with a color from an external signal (rows).

Inputs / Outputs

Input

Output

Parameters

{{ json_to_markdown(“perception/autoware_traffic_light_arbiter/schema/traffic_light_arbiter.schema.json”) }}

Changelog for package autoware_traffic_light_arbiter

0.47.0 (2025-08-11)

• feat(autoware_traffic_light_arbiter): handle multiple external sources (#11100)
• 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>
• Contributors: Dmitrii Koldaev, Mete Fatih Cırıt

0.46.0 (2025-06-20)

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

• feat(autoware_traffic_light_arbiter): adopt new traffic light message (#10652)

  • copy predicted_tl_state
  • fundamental commit for test
  • style(pre-commit): autofix
  • fix
  • refactor and add new test

  * add eval condition ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

• Contributors: Masato Saeki, TaikiYamada4

0.45.0 (2025-05-22)

• Merge remote-tracking branch 'origin/main' into tmp/notbot/bump_version_base

• feat(autoware_traffic_light_arbiter): add namespace [traffic_light]{.title-ref} (#10640)

  • add namespace traffic_light
  • style(pre-commit): autofix
  • chore

  * change namespace in test ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

• chore: update traffic light packages code owner (#10644) chore: add Taekjin Lee as maintainer to multiple perception packages

• Contributors: Masato Saeki, Taekjin LEE, TaikiYamada4

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)

• chore(perception): refactor perception launch (#10186)

  • fundamental change
  • style(pre-commit): autofix
  • fix typo
  • fix params and modify some packages
  • pre-commit
  • fix
  • fix spell check
  • fix typo
  • integrate model and label path
  • style(pre-commit): autofix
  • for pre-commit
  • run pre-commit
  • for awsim
  • for simulatior
  • style(pre-commit): autofix
  • fix grammer in launcher
  • add schema for yolox_tlr
  • style(pre-commit): autofix
  • fix file name
  • fix
  • rename
  • modify arg name to
  • fix typo
  • change param name
  • style(pre-commit): autofix

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