Package Summary
Tags | No category tags. |
Version | 0.1.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Description | |
Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-10-09 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Daniel Sanchez
- Yukihiro Saito
- Go Sakayori
- Shintaro Sakoda
Authors
- Go Sakayori
Autoware Trajectory Traffic Rule Filter
Purpose
The autoware_trajectory_traffic_rule_filter
package provides a plugin-based filtering system for candidate trajectories based on traffic rules. It evaluates trajectories against various traffic regulations and safety constraints to ensure compliance with traffic laws.
Inner-workings / Algorithms
Architecture
The package uses a plugin architecture that allows for flexible and extensible traffic rule checking:
-
Main Node:
TrajectoryTrafficRuleFilter
- Manages plugins and coordinates filtering -
Plugin Interface:
TrafficRuleFilterInterface
- Base class for all filter plugins - Filter Plugins: Individual filters that implement specific traffic rule checks
Filter Plugins
TrafficLightFilter
- Validates trajectory compliance with traffic signals
- Monitors traffic light states from perception system
- Checks if trajectory would pass through red lights
- Uses
isTrafficSignalStop()
from autoware traffic light utils - Allows trajectories only when traffic lights permit passage
Interface
Topics
Direction | Topic Name | Type | Description |
---|---|---|---|
Input | ~/input/candidate_trajectories |
autoware_internal_planning_msgs::msg::CandidateTrajectories |
Candidate trajectories to be filtered |
Input | ~/input/lanelet2_map |
autoware_map_msgs::msg::LaneletMapBin |
Lanelet2 map containing traffic rule info |
Input | ~/input/traffic_signals |
autoware_perception_msgs::msg::TrafficLightGroupArray |
Current traffic light states |
Output | ~/output/candidate_trajectories |
autoware_internal_planning_msgs::msg::CandidateTrajectories |
Filtered trajectories that comply with traffic rules |
Parameters
Name | Type | Description | Default Value |
---|---|---|---|
filter_names |
string array | List of filter plugins to load | See config file |
Plugin Configuration
The active filters are specified in config/trajectory_traffic_rule_filter.param.yaml
:
/**:
ros__parameters:
filter_names:
- "autoware::trajectory_traffic_rule_filter::plugin::TrafficLightFilter"
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/trajectory_traffic_rule_filter.launch.xml
-
- filter_param_path [default: $(find-pkg-share autoware_trajectory_traffic_rule_filter)/config/trajectory_traffic_rule_filter.param.yaml]
- input_trajectories [default: ~/input/trajectories]
- output_trajectories [default: ~/output/trajectories]
- input_map [default: /map/vector_map]
- input_traffic_signals [default: /perception/traffic_light_recognition/traffic_signals]
Messages
Services
Plugins
Recent questions tagged autoware_trajectory_traffic_rule_filter at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 0.1.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Description | |
Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-10-09 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Daniel Sanchez
- Yukihiro Saito
- Go Sakayori
- Shintaro Sakoda
Authors
- Go Sakayori
Autoware Trajectory Traffic Rule Filter
Purpose
The autoware_trajectory_traffic_rule_filter
package provides a plugin-based filtering system for candidate trajectories based on traffic rules. It evaluates trajectories against various traffic regulations and safety constraints to ensure compliance with traffic laws.
Inner-workings / Algorithms
Architecture
The package uses a plugin architecture that allows for flexible and extensible traffic rule checking:
-
Main Node:
TrajectoryTrafficRuleFilter
- Manages plugins and coordinates filtering -
Plugin Interface:
TrafficRuleFilterInterface
- Base class for all filter plugins - Filter Plugins: Individual filters that implement specific traffic rule checks
Filter Plugins
TrafficLightFilter
- Validates trajectory compliance with traffic signals
- Monitors traffic light states from perception system
- Checks if trajectory would pass through red lights
- Uses
isTrafficSignalStop()
from autoware traffic light utils - Allows trajectories only when traffic lights permit passage
Interface
Topics
Direction | Topic Name | Type | Description |
---|---|---|---|
Input | ~/input/candidate_trajectories |
autoware_internal_planning_msgs::msg::CandidateTrajectories |
Candidate trajectories to be filtered |
Input | ~/input/lanelet2_map |
autoware_map_msgs::msg::LaneletMapBin |
Lanelet2 map containing traffic rule info |
Input | ~/input/traffic_signals |
autoware_perception_msgs::msg::TrafficLightGroupArray |
Current traffic light states |
Output | ~/output/candidate_trajectories |
autoware_internal_planning_msgs::msg::CandidateTrajectories |
Filtered trajectories that comply with traffic rules |
Parameters
Name | Type | Description | Default Value |
---|---|---|---|
filter_names |
string array | List of filter plugins to load | See config file |
Plugin Configuration
The active filters are specified in config/trajectory_traffic_rule_filter.param.yaml
:
/**:
ros__parameters:
filter_names:
- "autoware::trajectory_traffic_rule_filter::plugin::TrafficLightFilter"
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/trajectory_traffic_rule_filter.launch.xml
-
- filter_param_path [default: $(find-pkg-share autoware_trajectory_traffic_rule_filter)/config/trajectory_traffic_rule_filter.param.yaml]
- input_trajectories [default: ~/input/trajectories]
- output_trajectories [default: ~/output/trajectories]
- input_map [default: /map/vector_map]
- input_traffic_signals [default: /perception/traffic_light_recognition/traffic_signals]
Messages
Services
Plugins
Recent questions tagged autoware_trajectory_traffic_rule_filter at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 0.1.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Description | |
Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-10-09 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Daniel Sanchez
- Yukihiro Saito
- Go Sakayori
- Shintaro Sakoda
Authors
- Go Sakayori
Autoware Trajectory Traffic Rule Filter
Purpose
The autoware_trajectory_traffic_rule_filter
package provides a plugin-based filtering system for candidate trajectories based on traffic rules. It evaluates trajectories against various traffic regulations and safety constraints to ensure compliance with traffic laws.
Inner-workings / Algorithms
Architecture
The package uses a plugin architecture that allows for flexible and extensible traffic rule checking:
-
Main Node:
TrajectoryTrafficRuleFilter
- Manages plugins and coordinates filtering -
Plugin Interface:
TrafficRuleFilterInterface
- Base class for all filter plugins - Filter Plugins: Individual filters that implement specific traffic rule checks
Filter Plugins
TrafficLightFilter
- Validates trajectory compliance with traffic signals
- Monitors traffic light states from perception system
- Checks if trajectory would pass through red lights
- Uses
isTrafficSignalStop()
from autoware traffic light utils - Allows trajectories only when traffic lights permit passage
Interface
Topics
Direction | Topic Name | Type | Description |
---|---|---|---|
Input | ~/input/candidate_trajectories |
autoware_internal_planning_msgs::msg::CandidateTrajectories |
Candidate trajectories to be filtered |
Input | ~/input/lanelet2_map |
autoware_map_msgs::msg::LaneletMapBin |
Lanelet2 map containing traffic rule info |
Input | ~/input/traffic_signals |
autoware_perception_msgs::msg::TrafficLightGroupArray |
Current traffic light states |
Output | ~/output/candidate_trajectories |
autoware_internal_planning_msgs::msg::CandidateTrajectories |
Filtered trajectories that comply with traffic rules |
Parameters
Name | Type | Description | Default Value |
---|---|---|---|
filter_names |
string array | List of filter plugins to load | See config file |
Plugin Configuration
The active filters are specified in config/trajectory_traffic_rule_filter.param.yaml
:
/**:
ros__parameters:
filter_names:
- "autoware::trajectory_traffic_rule_filter::plugin::TrafficLightFilter"
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/trajectory_traffic_rule_filter.launch.xml
-
- filter_param_path [default: $(find-pkg-share autoware_trajectory_traffic_rule_filter)/config/trajectory_traffic_rule_filter.param.yaml]
- input_trajectories [default: ~/input/trajectories]
- output_trajectories [default: ~/output/trajectories]
- input_map [default: /map/vector_map]
- input_traffic_signals [default: /perception/traffic_light_recognition/traffic_signals]
Messages
Services
Plugins
Recent questions tagged autoware_trajectory_traffic_rule_filter at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 0.1.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Description | |
Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-10-09 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Daniel Sanchez
- Yukihiro Saito
- Go Sakayori
- Shintaro Sakoda
Authors
- Go Sakayori
Autoware Trajectory Traffic Rule Filter
Purpose
The autoware_trajectory_traffic_rule_filter
package provides a plugin-based filtering system for candidate trajectories based on traffic rules. It evaluates trajectories against various traffic regulations and safety constraints to ensure compliance with traffic laws.
Inner-workings / Algorithms
Architecture
The package uses a plugin architecture that allows for flexible and extensible traffic rule checking:
-
Main Node:
TrajectoryTrafficRuleFilter
- Manages plugins and coordinates filtering -
Plugin Interface:
TrafficRuleFilterInterface
- Base class for all filter plugins - Filter Plugins: Individual filters that implement specific traffic rule checks
Filter Plugins
TrafficLightFilter
- Validates trajectory compliance with traffic signals
- Monitors traffic light states from perception system
- Checks if trajectory would pass through red lights
- Uses
isTrafficSignalStop()
from autoware traffic light utils - Allows trajectories only when traffic lights permit passage
Interface
Topics
Direction | Topic Name | Type | Description |
---|---|---|---|
Input | ~/input/candidate_trajectories |
autoware_internal_planning_msgs::msg::CandidateTrajectories |
Candidate trajectories to be filtered |
Input | ~/input/lanelet2_map |
autoware_map_msgs::msg::LaneletMapBin |
Lanelet2 map containing traffic rule info |
Input | ~/input/traffic_signals |
autoware_perception_msgs::msg::TrafficLightGroupArray |
Current traffic light states |
Output | ~/output/candidate_trajectories |
autoware_internal_planning_msgs::msg::CandidateTrajectories |
Filtered trajectories that comply with traffic rules |
Parameters
Name | Type | Description | Default Value |
---|---|---|---|
filter_names |
string array | List of filter plugins to load | See config file |
Plugin Configuration
The active filters are specified in config/trajectory_traffic_rule_filter.param.yaml
:
/**:
ros__parameters:
filter_names:
- "autoware::trajectory_traffic_rule_filter::plugin::TrafficLightFilter"
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/trajectory_traffic_rule_filter.launch.xml
-
- filter_param_path [default: $(find-pkg-share autoware_trajectory_traffic_rule_filter)/config/trajectory_traffic_rule_filter.param.yaml]
- input_trajectories [default: ~/input/trajectories]
- output_trajectories [default: ~/output/trajectories]
- input_map [default: /map/vector_map]
- input_traffic_signals [default: /perception/traffic_light_recognition/traffic_signals]
Messages
Services
Plugins
Recent questions tagged autoware_trajectory_traffic_rule_filter at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 0.1.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Description | |
Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-10-09 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Daniel Sanchez
- Yukihiro Saito
- Go Sakayori
- Shintaro Sakoda
Authors
- Go Sakayori
Autoware Trajectory Traffic Rule Filter
Purpose
The autoware_trajectory_traffic_rule_filter
package provides a plugin-based filtering system for candidate trajectories based on traffic rules. It evaluates trajectories against various traffic regulations and safety constraints to ensure compliance with traffic laws.
Inner-workings / Algorithms
Architecture
The package uses a plugin architecture that allows for flexible and extensible traffic rule checking:
-
Main Node:
TrajectoryTrafficRuleFilter
- Manages plugins and coordinates filtering -
Plugin Interface:
TrafficRuleFilterInterface
- Base class for all filter plugins - Filter Plugins: Individual filters that implement specific traffic rule checks
Filter Plugins
TrafficLightFilter
- Validates trajectory compliance with traffic signals
- Monitors traffic light states from perception system
- Checks if trajectory would pass through red lights
- Uses
isTrafficSignalStop()
from autoware traffic light utils - Allows trajectories only when traffic lights permit passage
Interface
Topics
Direction | Topic Name | Type | Description |
---|---|---|---|
Input | ~/input/candidate_trajectories |
autoware_internal_planning_msgs::msg::CandidateTrajectories |
Candidate trajectories to be filtered |
Input | ~/input/lanelet2_map |
autoware_map_msgs::msg::LaneletMapBin |
Lanelet2 map containing traffic rule info |
Input | ~/input/traffic_signals |
autoware_perception_msgs::msg::TrafficLightGroupArray |
Current traffic light states |
Output | ~/output/candidate_trajectories |
autoware_internal_planning_msgs::msg::CandidateTrajectories |
Filtered trajectories that comply with traffic rules |
Parameters
Name | Type | Description | Default Value |
---|---|---|---|
filter_names |
string array | List of filter plugins to load | See config file |
Plugin Configuration
The active filters are specified in config/trajectory_traffic_rule_filter.param.yaml
:
/**:
ros__parameters:
filter_names:
- "autoware::trajectory_traffic_rule_filter::plugin::TrafficLightFilter"
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/trajectory_traffic_rule_filter.launch.xml
-
- filter_param_path [default: $(find-pkg-share autoware_trajectory_traffic_rule_filter)/config/trajectory_traffic_rule_filter.param.yaml]
- input_trajectories [default: ~/input/trajectories]
- output_trajectories [default: ~/output/trajectories]
- input_map [default: /map/vector_map]
- input_traffic_signals [default: /perception/traffic_light_recognition/traffic_signals]
Messages
Services
Plugins
Recent questions tagged autoware_trajectory_traffic_rule_filter at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 0.1.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Description | |
Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-10-09 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Daniel Sanchez
- Yukihiro Saito
- Go Sakayori
- Shintaro Sakoda
Authors
- Go Sakayori
Autoware Trajectory Traffic Rule Filter
Purpose
The autoware_trajectory_traffic_rule_filter
package provides a plugin-based filtering system for candidate trajectories based on traffic rules. It evaluates trajectories against various traffic regulations and safety constraints to ensure compliance with traffic laws.
Inner-workings / Algorithms
Architecture
The package uses a plugin architecture that allows for flexible and extensible traffic rule checking:
-
Main Node:
TrajectoryTrafficRuleFilter
- Manages plugins and coordinates filtering -
Plugin Interface:
TrafficRuleFilterInterface
- Base class for all filter plugins - Filter Plugins: Individual filters that implement specific traffic rule checks
Filter Plugins
TrafficLightFilter
- Validates trajectory compliance with traffic signals
- Monitors traffic light states from perception system
- Checks if trajectory would pass through red lights
- Uses
isTrafficSignalStop()
from autoware traffic light utils - Allows trajectories only when traffic lights permit passage
Interface
Topics
Direction | Topic Name | Type | Description |
---|---|---|---|
Input | ~/input/candidate_trajectories |
autoware_internal_planning_msgs::msg::CandidateTrajectories |
Candidate trajectories to be filtered |
Input | ~/input/lanelet2_map |
autoware_map_msgs::msg::LaneletMapBin |
Lanelet2 map containing traffic rule info |
Input | ~/input/traffic_signals |
autoware_perception_msgs::msg::TrafficLightGroupArray |
Current traffic light states |
Output | ~/output/candidate_trajectories |
autoware_internal_planning_msgs::msg::CandidateTrajectories |
Filtered trajectories that comply with traffic rules |
Parameters
Name | Type | Description | Default Value |
---|---|---|---|
filter_names |
string array | List of filter plugins to load | See config file |
Plugin Configuration
The active filters are specified in config/trajectory_traffic_rule_filter.param.yaml
:
/**:
ros__parameters:
filter_names:
- "autoware::trajectory_traffic_rule_filter::plugin::TrafficLightFilter"
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/trajectory_traffic_rule_filter.launch.xml
-
- filter_param_path [default: $(find-pkg-share autoware_trajectory_traffic_rule_filter)/config/trajectory_traffic_rule_filter.param.yaml]
- input_trajectories [default: ~/input/trajectories]
- output_trajectories [default: ~/output/trajectories]
- input_map [default: /map/vector_map]
- input_traffic_signals [default: /perception/traffic_light_recognition/traffic_signals]
Messages
Services
Plugins
Recent questions tagged autoware_trajectory_traffic_rule_filter at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 0.1.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Description | |
Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-10-09 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Daniel Sanchez
- Yukihiro Saito
- Go Sakayori
- Shintaro Sakoda
Authors
- Go Sakayori
Autoware Trajectory Traffic Rule Filter
Purpose
The autoware_trajectory_traffic_rule_filter
package provides a plugin-based filtering system for candidate trajectories based on traffic rules. It evaluates trajectories against various traffic regulations and safety constraints to ensure compliance with traffic laws.
Inner-workings / Algorithms
Architecture
The package uses a plugin architecture that allows for flexible and extensible traffic rule checking:
-
Main Node:
TrajectoryTrafficRuleFilter
- Manages plugins and coordinates filtering -
Plugin Interface:
TrafficRuleFilterInterface
- Base class for all filter plugins - Filter Plugins: Individual filters that implement specific traffic rule checks
Filter Plugins
TrafficLightFilter
- Validates trajectory compliance with traffic signals
- Monitors traffic light states from perception system
- Checks if trajectory would pass through red lights
- Uses
isTrafficSignalStop()
from autoware traffic light utils - Allows trajectories only when traffic lights permit passage
Interface
Topics
Direction | Topic Name | Type | Description |
---|---|---|---|
Input | ~/input/candidate_trajectories |
autoware_internal_planning_msgs::msg::CandidateTrajectories |
Candidate trajectories to be filtered |
Input | ~/input/lanelet2_map |
autoware_map_msgs::msg::LaneletMapBin |
Lanelet2 map containing traffic rule info |
Input | ~/input/traffic_signals |
autoware_perception_msgs::msg::TrafficLightGroupArray |
Current traffic light states |
Output | ~/output/candidate_trajectories |
autoware_internal_planning_msgs::msg::CandidateTrajectories |
Filtered trajectories that comply with traffic rules |
Parameters
Name | Type | Description | Default Value |
---|---|---|---|
filter_names |
string array | List of filter plugins to load | See config file |
Plugin Configuration
The active filters are specified in config/trajectory_traffic_rule_filter.param.yaml
:
/**:
ros__parameters:
filter_names:
- "autoware::trajectory_traffic_rule_filter::plugin::TrafficLightFilter"
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/trajectory_traffic_rule_filter.launch.xml
-
- filter_param_path [default: $(find-pkg-share autoware_trajectory_traffic_rule_filter)/config/trajectory_traffic_rule_filter.param.yaml]
- input_trajectories [default: ~/input/trajectories]
- output_trajectories [default: ~/output/trajectories]
- input_map [default: /map/vector_map]
- input_traffic_signals [default: /perception/traffic_light_recognition/traffic_signals]
Messages
Services
Plugins
Recent questions tagged autoware_trajectory_traffic_rule_filter at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 0.1.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Description | |
Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-10-09 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Daniel Sanchez
- Yukihiro Saito
- Go Sakayori
- Shintaro Sakoda
Authors
- Go Sakayori
Autoware Trajectory Traffic Rule Filter
Purpose
The autoware_trajectory_traffic_rule_filter
package provides a plugin-based filtering system for candidate trajectories based on traffic rules. It evaluates trajectories against various traffic regulations and safety constraints to ensure compliance with traffic laws.
Inner-workings / Algorithms
Architecture
The package uses a plugin architecture that allows for flexible and extensible traffic rule checking:
-
Main Node:
TrajectoryTrafficRuleFilter
- Manages plugins and coordinates filtering -
Plugin Interface:
TrafficRuleFilterInterface
- Base class for all filter plugins - Filter Plugins: Individual filters that implement specific traffic rule checks
Filter Plugins
TrafficLightFilter
- Validates trajectory compliance with traffic signals
- Monitors traffic light states from perception system
- Checks if trajectory would pass through red lights
- Uses
isTrafficSignalStop()
from autoware traffic light utils - Allows trajectories only when traffic lights permit passage
Interface
Topics
Direction | Topic Name | Type | Description |
---|---|---|---|
Input | ~/input/candidate_trajectories |
autoware_internal_planning_msgs::msg::CandidateTrajectories |
Candidate trajectories to be filtered |
Input | ~/input/lanelet2_map |
autoware_map_msgs::msg::LaneletMapBin |
Lanelet2 map containing traffic rule info |
Input | ~/input/traffic_signals |
autoware_perception_msgs::msg::TrafficLightGroupArray |
Current traffic light states |
Output | ~/output/candidate_trajectories |
autoware_internal_planning_msgs::msg::CandidateTrajectories |
Filtered trajectories that comply with traffic rules |
Parameters
Name | Type | Description | Default Value |
---|---|---|---|
filter_names |
string array | List of filter plugins to load | See config file |
Plugin Configuration
The active filters are specified in config/trajectory_traffic_rule_filter.param.yaml
:
/**:
ros__parameters:
filter_names:
- "autoware::trajectory_traffic_rule_filter::plugin::TrafficLightFilter"
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/trajectory_traffic_rule_filter.launch.xml
-
- filter_param_path [default: $(find-pkg-share autoware_trajectory_traffic_rule_filter)/config/trajectory_traffic_rule_filter.param.yaml]
- input_trajectories [default: ~/input/trajectories]
- output_trajectories [default: ~/output/trajectories]
- input_map [default: /map/vector_map]
- input_traffic_signals [default: /perception/traffic_light_recognition/traffic_signals]
Messages
Services
Plugins
Recent questions tagged autoware_trajectory_traffic_rule_filter at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 0.1.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Description | |
Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-10-09 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Daniel Sanchez
- Yukihiro Saito
- Go Sakayori
- Shintaro Sakoda
Authors
- Go Sakayori
Autoware Trajectory Traffic Rule Filter
Purpose
The autoware_trajectory_traffic_rule_filter
package provides a plugin-based filtering system for candidate trajectories based on traffic rules. It evaluates trajectories against various traffic regulations and safety constraints to ensure compliance with traffic laws.
Inner-workings / Algorithms
Architecture
The package uses a plugin architecture that allows for flexible and extensible traffic rule checking:
-
Main Node:
TrajectoryTrafficRuleFilter
- Manages plugins and coordinates filtering -
Plugin Interface:
TrafficRuleFilterInterface
- Base class for all filter plugins - Filter Plugins: Individual filters that implement specific traffic rule checks
Filter Plugins
TrafficLightFilter
- Validates trajectory compliance with traffic signals
- Monitors traffic light states from perception system
- Checks if trajectory would pass through red lights
- Uses
isTrafficSignalStop()
from autoware traffic light utils - Allows trajectories only when traffic lights permit passage
Interface
Topics
Direction | Topic Name | Type | Description |
---|---|---|---|
Input | ~/input/candidate_trajectories |
autoware_internal_planning_msgs::msg::CandidateTrajectories |
Candidate trajectories to be filtered |
Input | ~/input/lanelet2_map |
autoware_map_msgs::msg::LaneletMapBin |
Lanelet2 map containing traffic rule info |
Input | ~/input/traffic_signals |
autoware_perception_msgs::msg::TrafficLightGroupArray |
Current traffic light states |
Output | ~/output/candidate_trajectories |
autoware_internal_planning_msgs::msg::CandidateTrajectories |
Filtered trajectories that comply with traffic rules |
Parameters
Name | Type | Description | Default Value |
---|---|---|---|
filter_names |
string array | List of filter plugins to load | See config file |
Plugin Configuration
The active filters are specified in config/trajectory_traffic_rule_filter.param.yaml
:
/**:
ros__parameters:
filter_names:
- "autoware::trajectory_traffic_rule_filter::plugin::TrafficLightFilter"
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/trajectory_traffic_rule_filter.launch.xml
-
- filter_param_path [default: $(find-pkg-share autoware_trajectory_traffic_rule_filter)/config/trajectory_traffic_rule_filter.param.yaml]
- input_trajectories [default: ~/input/trajectories]
- output_trajectories [default: ~/output/trajectories]
- input_map [default: /map/vector_map]
- input_traffic_signals [default: /perception/traffic_light_recognition/traffic_signals]