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/ieiauto/autodrrt.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-05-30 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Kosuke Takeuchi
- Tomoya Kimura
- Shumpei Wakabayashi
Authors
- Kosuke Takeuchi
Virtual Traffic Light
Role
Autonomous vehicles have to cooperate with the infrastructures such as:
- Warehouse shutters
- Traffic lights with V2X support
- Communication devices at intersections
- Fleet Management Systems (FMS)
The following items are example cases:
-
Traffic control by traffic lights with V2X support
-
Intersection coordination of multiple vehicles by FMS.
It’s possible to make each function individually, however, the use cases can be generalized with these three elements.
-
start
: Start a cooperation procedure after the vehicle enters a certain zone. -
stop
: Stop at a defined stop line according to the status received from infrastructures. -
end
: Finalize the cooperation procedure after the vehicle reaches the exit zone. This should be done within the range of stable communication.
This module sends/receives status from infrastructures and plans the velocity of the cooperation result.
System Configuration Diagram
@startuml
!theme cerulean-outline
' Component
node "Autoware ECU" as autoware_ecu {
component "Behavior Planner" as behavior_planner
component "Autoware API" as autoware_api
database "Vector Map" as vector_map
note bottom of vector_map
Communication metadata is stored.
end note
}
package "Infrastructures" as infrastructures {
node "FMS" as fms
node "Automatic Shutter" as automatic_shutter
node "Manual Shutter" as manual_shutter
node "Remove Controllable Traffic Light" as remote_controllable_traffic_light
node "Warning Light" as warning_light
}
' Relationship
'' Behavior Planner <-> Autoware API
behavior_planner -up-> autoware_api : infrastructure\n command
autoware_api -down-> behavior_planner : infrastructure\n state
'' Vector Map
vector_map -left-> behavior_planner : vector map
'' Autoware API <-> Infrastructure
autoware_api -up-> fms : <color:blue>lock\n <color:blue>request
fms -down-> autoware_api : <color:blue>right-of-way\n <color:blue>state
autoware_api -up-> automatic_shutter : <color:green>approach\n <color:green>notification
automatic_shutter -down-> autoware_api : <color:green>shutter\n <color:green>state
autoware_api -up-> manual_shutter : <color:blue>open/close\n <color:blue>command
manual_shutter -down-> autoware_api : <color:blue>shutter\n <color:blue>state
autoware_api -up-> remote_controllable_traffic_light : <color:green>light change\n <color:green>command
remote_controllable_traffic_light -down-> autoware_api : <color:green>light\n <color:green>state
autoware_api -up-> warning_light : <color:blue>activation\n <color:blue>command
warning_light -down-> autoware_api : <color:blue>warning light\n <color:blue>state
' Layout
'' Infrastructure
fms -[hidden]right-> automatic_shutter
automatic_shutter -[hidden]right-> manual_shutter
manual_shutter -[hidden]right-> remote_controllable_traffic_light
remote_controllable_traffic_light -[hidden]right-> warning_light
@enduml
Planner and each infrastructure communicate with each other using common abstracted messages.
- Special handling for each infrastructure is not scalable. The interface is defined as an Autoware API.
- The requirements for each infrastructure are slightly different, but will be handled flexibly.
FMS: Intersection coordination when multiple vehicles are in operation and the relevant lane is occupied
- Automatic shutter: Open the shutter when approaching/close it when leaving
- Manual shutter: Have the driver open and close the shutter.
- Remote control signal: Have the driver change the signal status to match the direction of travel.
- Warning light: Activate the warning light
Support different communication methods for different infrastructures
- HTTP
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Name |
---|
nlohmann-json-dev |
Dependant Packages
Name | Deps |
---|---|
behavior_velocity_planner |
Launch files
Messages
Services
Plugins
Recent questions tagged behavior_velocity_virtual_traffic_light_module 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/ieiauto/autodrrt.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-05-30 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Kosuke Takeuchi
- Tomoya Kimura
- Shumpei Wakabayashi
Authors
- Kosuke Takeuchi
Virtual Traffic Light
Role
Autonomous vehicles have to cooperate with the infrastructures such as:
- Warehouse shutters
- Traffic lights with V2X support
- Communication devices at intersections
- Fleet Management Systems (FMS)
The following items are example cases:
-
Traffic control by traffic lights with V2X support
-
Intersection coordination of multiple vehicles by FMS.
It’s possible to make each function individually, however, the use cases can be generalized with these three elements.
-
start
: Start a cooperation procedure after the vehicle enters a certain zone. -
stop
: Stop at a defined stop line according to the status received from infrastructures. -
end
: Finalize the cooperation procedure after the vehicle reaches the exit zone. This should be done within the range of stable communication.
This module sends/receives status from infrastructures and plans the velocity of the cooperation result.
System Configuration Diagram
@startuml
!theme cerulean-outline
' Component
node "Autoware ECU" as autoware_ecu {
component "Behavior Planner" as behavior_planner
component "Autoware API" as autoware_api
database "Vector Map" as vector_map
note bottom of vector_map
Communication metadata is stored.
end note
}
package "Infrastructures" as infrastructures {
node "FMS" as fms
node "Automatic Shutter" as automatic_shutter
node "Manual Shutter" as manual_shutter
node "Remove Controllable Traffic Light" as remote_controllable_traffic_light
node "Warning Light" as warning_light
}
' Relationship
'' Behavior Planner <-> Autoware API
behavior_planner -up-> autoware_api : infrastructure\n command
autoware_api -down-> behavior_planner : infrastructure\n state
'' Vector Map
vector_map -left-> behavior_planner : vector map
'' Autoware API <-> Infrastructure
autoware_api -up-> fms : <color:blue>lock\n <color:blue>request
fms -down-> autoware_api : <color:blue>right-of-way\n <color:blue>state
autoware_api -up-> automatic_shutter : <color:green>approach\n <color:green>notification
automatic_shutter -down-> autoware_api : <color:green>shutter\n <color:green>state
autoware_api -up-> manual_shutter : <color:blue>open/close\n <color:blue>command
manual_shutter -down-> autoware_api : <color:blue>shutter\n <color:blue>state
autoware_api -up-> remote_controllable_traffic_light : <color:green>light change\n <color:green>command
remote_controllable_traffic_light -down-> autoware_api : <color:green>light\n <color:green>state
autoware_api -up-> warning_light : <color:blue>activation\n <color:blue>command
warning_light -down-> autoware_api : <color:blue>warning light\n <color:blue>state
' Layout
'' Infrastructure
fms -[hidden]right-> automatic_shutter
automatic_shutter -[hidden]right-> manual_shutter
manual_shutter -[hidden]right-> remote_controllable_traffic_light
remote_controllable_traffic_light -[hidden]right-> warning_light
@enduml
Planner and each infrastructure communicate with each other using common abstracted messages.
- Special handling for each infrastructure is not scalable. The interface is defined as an Autoware API.
- The requirements for each infrastructure are slightly different, but will be handled flexibly.
FMS: Intersection coordination when multiple vehicles are in operation and the relevant lane is occupied
- Automatic shutter: Open the shutter when approaching/close it when leaving
- Manual shutter: Have the driver open and close the shutter.
- Remote control signal: Have the driver change the signal status to match the direction of travel.
- Warning light: Activate the warning light
Support different communication methods for different infrastructures
- HTTP
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Name |
---|
nlohmann-json-dev |
Dependant Packages
Name | Deps |
---|---|
behavior_velocity_planner |
Launch files
Messages
Services
Plugins
Recent questions tagged behavior_velocity_virtual_traffic_light_module 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/ieiauto/autodrrt.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-05-30 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Kosuke Takeuchi
- Tomoya Kimura
- Shumpei Wakabayashi
Authors
- Kosuke Takeuchi
Virtual Traffic Light
Role
Autonomous vehicles have to cooperate with the infrastructures such as:
- Warehouse shutters
- Traffic lights with V2X support
- Communication devices at intersections
- Fleet Management Systems (FMS)
The following items are example cases:
-
Traffic control by traffic lights with V2X support
-
Intersection coordination of multiple vehicles by FMS.
It’s possible to make each function individually, however, the use cases can be generalized with these three elements.
-
start
: Start a cooperation procedure after the vehicle enters a certain zone. -
stop
: Stop at a defined stop line according to the status received from infrastructures. -
end
: Finalize the cooperation procedure after the vehicle reaches the exit zone. This should be done within the range of stable communication.
This module sends/receives status from infrastructures and plans the velocity of the cooperation result.
System Configuration Diagram
@startuml
!theme cerulean-outline
' Component
node "Autoware ECU" as autoware_ecu {
component "Behavior Planner" as behavior_planner
component "Autoware API" as autoware_api
database "Vector Map" as vector_map
note bottom of vector_map
Communication metadata is stored.
end note
}
package "Infrastructures" as infrastructures {
node "FMS" as fms
node "Automatic Shutter" as automatic_shutter
node "Manual Shutter" as manual_shutter
node "Remove Controllable Traffic Light" as remote_controllable_traffic_light
node "Warning Light" as warning_light
}
' Relationship
'' Behavior Planner <-> Autoware API
behavior_planner -up-> autoware_api : infrastructure\n command
autoware_api -down-> behavior_planner : infrastructure\n state
'' Vector Map
vector_map -left-> behavior_planner : vector map
'' Autoware API <-> Infrastructure
autoware_api -up-> fms : <color:blue>lock\n <color:blue>request
fms -down-> autoware_api : <color:blue>right-of-way\n <color:blue>state
autoware_api -up-> automatic_shutter : <color:green>approach\n <color:green>notification
automatic_shutter -down-> autoware_api : <color:green>shutter\n <color:green>state
autoware_api -up-> manual_shutter : <color:blue>open/close\n <color:blue>command
manual_shutter -down-> autoware_api : <color:blue>shutter\n <color:blue>state
autoware_api -up-> remote_controllable_traffic_light : <color:green>light change\n <color:green>command
remote_controllable_traffic_light -down-> autoware_api : <color:green>light\n <color:green>state
autoware_api -up-> warning_light : <color:blue>activation\n <color:blue>command
warning_light -down-> autoware_api : <color:blue>warning light\n <color:blue>state
' Layout
'' Infrastructure
fms -[hidden]right-> automatic_shutter
automatic_shutter -[hidden]right-> manual_shutter
manual_shutter -[hidden]right-> remote_controllable_traffic_light
remote_controllable_traffic_light -[hidden]right-> warning_light
@enduml
Planner and each infrastructure communicate with each other using common abstracted messages.
- Special handling for each infrastructure is not scalable. The interface is defined as an Autoware API.
- The requirements for each infrastructure are slightly different, but will be handled flexibly.
FMS: Intersection coordination when multiple vehicles are in operation and the relevant lane is occupied
- Automatic shutter: Open the shutter when approaching/close it when leaving
- Manual shutter: Have the driver open and close the shutter.
- Remote control signal: Have the driver change the signal status to match the direction of travel.
- Warning light: Activate the warning light
Support different communication methods for different infrastructures
- HTTP
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Name |
---|
nlohmann-json-dev |
Dependant Packages
Name | Deps |
---|---|
behavior_velocity_planner |
Launch files
Messages
Services
Plugins
Recent questions tagged behavior_velocity_virtual_traffic_light_module 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/ieiauto/autodrrt.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-05-30 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Kosuke Takeuchi
- Tomoya Kimura
- Shumpei Wakabayashi
Authors
- Kosuke Takeuchi
Virtual Traffic Light
Role
Autonomous vehicles have to cooperate with the infrastructures such as:
- Warehouse shutters
- Traffic lights with V2X support
- Communication devices at intersections
- Fleet Management Systems (FMS)
The following items are example cases:
-
Traffic control by traffic lights with V2X support
-
Intersection coordination of multiple vehicles by FMS.
It’s possible to make each function individually, however, the use cases can be generalized with these three elements.
-
start
: Start a cooperation procedure after the vehicle enters a certain zone. -
stop
: Stop at a defined stop line according to the status received from infrastructures. -
end
: Finalize the cooperation procedure after the vehicle reaches the exit zone. This should be done within the range of stable communication.
This module sends/receives status from infrastructures and plans the velocity of the cooperation result.
System Configuration Diagram
@startuml
!theme cerulean-outline
' Component
node "Autoware ECU" as autoware_ecu {
component "Behavior Planner" as behavior_planner
component "Autoware API" as autoware_api
database "Vector Map" as vector_map
note bottom of vector_map
Communication metadata is stored.
end note
}
package "Infrastructures" as infrastructures {
node "FMS" as fms
node "Automatic Shutter" as automatic_shutter
node "Manual Shutter" as manual_shutter
node "Remove Controllable Traffic Light" as remote_controllable_traffic_light
node "Warning Light" as warning_light
}
' Relationship
'' Behavior Planner <-> Autoware API
behavior_planner -up-> autoware_api : infrastructure\n command
autoware_api -down-> behavior_planner : infrastructure\n state
'' Vector Map
vector_map -left-> behavior_planner : vector map
'' Autoware API <-> Infrastructure
autoware_api -up-> fms : <color:blue>lock\n <color:blue>request
fms -down-> autoware_api : <color:blue>right-of-way\n <color:blue>state
autoware_api -up-> automatic_shutter : <color:green>approach\n <color:green>notification
automatic_shutter -down-> autoware_api : <color:green>shutter\n <color:green>state
autoware_api -up-> manual_shutter : <color:blue>open/close\n <color:blue>command
manual_shutter -down-> autoware_api : <color:blue>shutter\n <color:blue>state
autoware_api -up-> remote_controllable_traffic_light : <color:green>light change\n <color:green>command
remote_controllable_traffic_light -down-> autoware_api : <color:green>light\n <color:green>state
autoware_api -up-> warning_light : <color:blue>activation\n <color:blue>command
warning_light -down-> autoware_api : <color:blue>warning light\n <color:blue>state
' Layout
'' Infrastructure
fms -[hidden]right-> automatic_shutter
automatic_shutter -[hidden]right-> manual_shutter
manual_shutter -[hidden]right-> remote_controllable_traffic_light
remote_controllable_traffic_light -[hidden]right-> warning_light
@enduml
Planner and each infrastructure communicate with each other using common abstracted messages.
- Special handling for each infrastructure is not scalable. The interface is defined as an Autoware API.
- The requirements for each infrastructure are slightly different, but will be handled flexibly.
FMS: Intersection coordination when multiple vehicles are in operation and the relevant lane is occupied
- Automatic shutter: Open the shutter when approaching/close it when leaving
- Manual shutter: Have the driver open and close the shutter.
- Remote control signal: Have the driver change the signal status to match the direction of travel.
- Warning light: Activate the warning light
Support different communication methods for different infrastructures
- HTTP
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Name |
---|
nlohmann-json-dev |
Dependant Packages
Name | Deps |
---|---|
behavior_velocity_planner |
Launch files
Messages
Services
Plugins
Recent questions tagged behavior_velocity_virtual_traffic_light_module 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/ieiauto/autodrrt.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-05-30 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Kosuke Takeuchi
- Tomoya Kimura
- Shumpei Wakabayashi
Authors
- Kosuke Takeuchi
Virtual Traffic Light
Role
Autonomous vehicles have to cooperate with the infrastructures such as:
- Warehouse shutters
- Traffic lights with V2X support
- Communication devices at intersections
- Fleet Management Systems (FMS)
The following items are example cases:
-
Traffic control by traffic lights with V2X support
-
Intersection coordination of multiple vehicles by FMS.
It’s possible to make each function individually, however, the use cases can be generalized with these three elements.
-
start
: Start a cooperation procedure after the vehicle enters a certain zone. -
stop
: Stop at a defined stop line according to the status received from infrastructures. -
end
: Finalize the cooperation procedure after the vehicle reaches the exit zone. This should be done within the range of stable communication.
This module sends/receives status from infrastructures and plans the velocity of the cooperation result.
System Configuration Diagram
@startuml
!theme cerulean-outline
' Component
node "Autoware ECU" as autoware_ecu {
component "Behavior Planner" as behavior_planner
component "Autoware API" as autoware_api
database "Vector Map" as vector_map
note bottom of vector_map
Communication metadata is stored.
end note
}
package "Infrastructures" as infrastructures {
node "FMS" as fms
node "Automatic Shutter" as automatic_shutter
node "Manual Shutter" as manual_shutter
node "Remove Controllable Traffic Light" as remote_controllable_traffic_light
node "Warning Light" as warning_light
}
' Relationship
'' Behavior Planner <-> Autoware API
behavior_planner -up-> autoware_api : infrastructure\n command
autoware_api -down-> behavior_planner : infrastructure\n state
'' Vector Map
vector_map -left-> behavior_planner : vector map
'' Autoware API <-> Infrastructure
autoware_api -up-> fms : <color:blue>lock\n <color:blue>request
fms -down-> autoware_api : <color:blue>right-of-way\n <color:blue>state
autoware_api -up-> automatic_shutter : <color:green>approach\n <color:green>notification
automatic_shutter -down-> autoware_api : <color:green>shutter\n <color:green>state
autoware_api -up-> manual_shutter : <color:blue>open/close\n <color:blue>command
manual_shutter -down-> autoware_api : <color:blue>shutter\n <color:blue>state
autoware_api -up-> remote_controllable_traffic_light : <color:green>light change\n <color:green>command
remote_controllable_traffic_light -down-> autoware_api : <color:green>light\n <color:green>state
autoware_api -up-> warning_light : <color:blue>activation\n <color:blue>command
warning_light -down-> autoware_api : <color:blue>warning light\n <color:blue>state
' Layout
'' Infrastructure
fms -[hidden]right-> automatic_shutter
automatic_shutter -[hidden]right-> manual_shutter
manual_shutter -[hidden]right-> remote_controllable_traffic_light
remote_controllable_traffic_light -[hidden]right-> warning_light
@enduml
Planner and each infrastructure communicate with each other using common abstracted messages.
- Special handling for each infrastructure is not scalable. The interface is defined as an Autoware API.
- The requirements for each infrastructure are slightly different, but will be handled flexibly.
FMS: Intersection coordination when multiple vehicles are in operation and the relevant lane is occupied
- Automatic shutter: Open the shutter when approaching/close it when leaving
- Manual shutter: Have the driver open and close the shutter.
- Remote control signal: Have the driver change the signal status to match the direction of travel.
- Warning light: Activate the warning light
Support different communication methods for different infrastructures
- HTTP
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Name |
---|
nlohmann-json-dev |
Dependant Packages
Name | Deps |
---|---|
behavior_velocity_planner |
Launch files
Messages
Services
Plugins
Recent questions tagged behavior_velocity_virtual_traffic_light_module 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/ieiauto/autodrrt.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-05-30 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Kosuke Takeuchi
- Tomoya Kimura
- Shumpei Wakabayashi
Authors
- Kosuke Takeuchi
Virtual Traffic Light
Role
Autonomous vehicles have to cooperate with the infrastructures such as:
- Warehouse shutters
- Traffic lights with V2X support
- Communication devices at intersections
- Fleet Management Systems (FMS)
The following items are example cases:
-
Traffic control by traffic lights with V2X support
-
Intersection coordination of multiple vehicles by FMS.
It’s possible to make each function individually, however, the use cases can be generalized with these three elements.
-
start
: Start a cooperation procedure after the vehicle enters a certain zone. -
stop
: Stop at a defined stop line according to the status received from infrastructures. -
end
: Finalize the cooperation procedure after the vehicle reaches the exit zone. This should be done within the range of stable communication.
This module sends/receives status from infrastructures and plans the velocity of the cooperation result.
System Configuration Diagram
@startuml
!theme cerulean-outline
' Component
node "Autoware ECU" as autoware_ecu {
component "Behavior Planner" as behavior_planner
component "Autoware API" as autoware_api
database "Vector Map" as vector_map
note bottom of vector_map
Communication metadata is stored.
end note
}
package "Infrastructures" as infrastructures {
node "FMS" as fms
node "Automatic Shutter" as automatic_shutter
node "Manual Shutter" as manual_shutter
node "Remove Controllable Traffic Light" as remote_controllable_traffic_light
node "Warning Light" as warning_light
}
' Relationship
'' Behavior Planner <-> Autoware API
behavior_planner -up-> autoware_api : infrastructure\n command
autoware_api -down-> behavior_planner : infrastructure\n state
'' Vector Map
vector_map -left-> behavior_planner : vector map
'' Autoware API <-> Infrastructure
autoware_api -up-> fms : <color:blue>lock\n <color:blue>request
fms -down-> autoware_api : <color:blue>right-of-way\n <color:blue>state
autoware_api -up-> automatic_shutter : <color:green>approach\n <color:green>notification
automatic_shutter -down-> autoware_api : <color:green>shutter\n <color:green>state
autoware_api -up-> manual_shutter : <color:blue>open/close\n <color:blue>command
manual_shutter -down-> autoware_api : <color:blue>shutter\n <color:blue>state
autoware_api -up-> remote_controllable_traffic_light : <color:green>light change\n <color:green>command
remote_controllable_traffic_light -down-> autoware_api : <color:green>light\n <color:green>state
autoware_api -up-> warning_light : <color:blue>activation\n <color:blue>command
warning_light -down-> autoware_api : <color:blue>warning light\n <color:blue>state
' Layout
'' Infrastructure
fms -[hidden]right-> automatic_shutter
automatic_shutter -[hidden]right-> manual_shutter
manual_shutter -[hidden]right-> remote_controllable_traffic_light
remote_controllable_traffic_light -[hidden]right-> warning_light
@enduml
Planner and each infrastructure communicate with each other using common abstracted messages.
- Special handling for each infrastructure is not scalable. The interface is defined as an Autoware API.
- The requirements for each infrastructure are slightly different, but will be handled flexibly.
FMS: Intersection coordination when multiple vehicles are in operation and the relevant lane is occupied
- Automatic shutter: Open the shutter when approaching/close it when leaving
- Manual shutter: Have the driver open and close the shutter.
- Remote control signal: Have the driver change the signal status to match the direction of travel.
- Warning light: Activate the warning light
Support different communication methods for different infrastructures
- HTTP
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Name |
---|
nlohmann-json-dev |
Dependant Packages
Name | Deps |
---|---|
behavior_velocity_planner |
Launch files
Messages
Services
Plugins
Recent questions tagged behavior_velocity_virtual_traffic_light_module 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/ieiauto/autodrrt.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-05-30 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Kosuke Takeuchi
- Tomoya Kimura
- Shumpei Wakabayashi
Authors
- Kosuke Takeuchi
Virtual Traffic Light
Role
Autonomous vehicles have to cooperate with the infrastructures such as:
- Warehouse shutters
- Traffic lights with V2X support
- Communication devices at intersections
- Fleet Management Systems (FMS)
The following items are example cases:
-
Traffic control by traffic lights with V2X support
-
Intersection coordination of multiple vehicles by FMS.
It’s possible to make each function individually, however, the use cases can be generalized with these three elements.
-
start
: Start a cooperation procedure after the vehicle enters a certain zone. -
stop
: Stop at a defined stop line according to the status received from infrastructures. -
end
: Finalize the cooperation procedure after the vehicle reaches the exit zone. This should be done within the range of stable communication.
This module sends/receives status from infrastructures and plans the velocity of the cooperation result.
System Configuration Diagram
@startuml
!theme cerulean-outline
' Component
node "Autoware ECU" as autoware_ecu {
component "Behavior Planner" as behavior_planner
component "Autoware API" as autoware_api
database "Vector Map" as vector_map
note bottom of vector_map
Communication metadata is stored.
end note
}
package "Infrastructures" as infrastructures {
node "FMS" as fms
node "Automatic Shutter" as automatic_shutter
node "Manual Shutter" as manual_shutter
node "Remove Controllable Traffic Light" as remote_controllable_traffic_light
node "Warning Light" as warning_light
}
' Relationship
'' Behavior Planner <-> Autoware API
behavior_planner -up-> autoware_api : infrastructure\n command
autoware_api -down-> behavior_planner : infrastructure\n state
'' Vector Map
vector_map -left-> behavior_planner : vector map
'' Autoware API <-> Infrastructure
autoware_api -up-> fms : <color:blue>lock\n <color:blue>request
fms -down-> autoware_api : <color:blue>right-of-way\n <color:blue>state
autoware_api -up-> automatic_shutter : <color:green>approach\n <color:green>notification
automatic_shutter -down-> autoware_api : <color:green>shutter\n <color:green>state
autoware_api -up-> manual_shutter : <color:blue>open/close\n <color:blue>command
manual_shutter -down-> autoware_api : <color:blue>shutter\n <color:blue>state
autoware_api -up-> remote_controllable_traffic_light : <color:green>light change\n <color:green>command
remote_controllable_traffic_light -down-> autoware_api : <color:green>light\n <color:green>state
autoware_api -up-> warning_light : <color:blue>activation\n <color:blue>command
warning_light -down-> autoware_api : <color:blue>warning light\n <color:blue>state
' Layout
'' Infrastructure
fms -[hidden]right-> automatic_shutter
automatic_shutter -[hidden]right-> manual_shutter
manual_shutter -[hidden]right-> remote_controllable_traffic_light
remote_controllable_traffic_light -[hidden]right-> warning_light
@enduml
Planner and each infrastructure communicate with each other using common abstracted messages.
- Special handling for each infrastructure is not scalable. The interface is defined as an Autoware API.
- The requirements for each infrastructure are slightly different, but will be handled flexibly.
FMS: Intersection coordination when multiple vehicles are in operation and the relevant lane is occupied
- Automatic shutter: Open the shutter when approaching/close it when leaving
- Manual shutter: Have the driver open and close the shutter.
- Remote control signal: Have the driver change the signal status to match the direction of travel.
- Warning light: Activate the warning light
Support different communication methods for different infrastructures
- HTTP
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Name |
---|
nlohmann-json-dev |
Dependant Packages
Name | Deps |
---|---|
behavior_velocity_planner |
Launch files
Messages
Services
Plugins
Recent questions tagged behavior_velocity_virtual_traffic_light_module 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/ieiauto/autodrrt.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-05-30 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Kosuke Takeuchi
- Tomoya Kimura
- Shumpei Wakabayashi
Authors
- Kosuke Takeuchi
Virtual Traffic Light
Role
Autonomous vehicles have to cooperate with the infrastructures such as:
- Warehouse shutters
- Traffic lights with V2X support
- Communication devices at intersections
- Fleet Management Systems (FMS)
The following items are example cases:
-
Traffic control by traffic lights with V2X support
-
Intersection coordination of multiple vehicles by FMS.
It’s possible to make each function individually, however, the use cases can be generalized with these three elements.
-
start
: Start a cooperation procedure after the vehicle enters a certain zone. -
stop
: Stop at a defined stop line according to the status received from infrastructures. -
end
: Finalize the cooperation procedure after the vehicle reaches the exit zone. This should be done within the range of stable communication.
This module sends/receives status from infrastructures and plans the velocity of the cooperation result.
System Configuration Diagram
@startuml
!theme cerulean-outline
' Component
node "Autoware ECU" as autoware_ecu {
component "Behavior Planner" as behavior_planner
component "Autoware API" as autoware_api
database "Vector Map" as vector_map
note bottom of vector_map
Communication metadata is stored.
end note
}
package "Infrastructures" as infrastructures {
node "FMS" as fms
node "Automatic Shutter" as automatic_shutter
node "Manual Shutter" as manual_shutter
node "Remove Controllable Traffic Light" as remote_controllable_traffic_light
node "Warning Light" as warning_light
}
' Relationship
'' Behavior Planner <-> Autoware API
behavior_planner -up-> autoware_api : infrastructure\n command
autoware_api -down-> behavior_planner : infrastructure\n state
'' Vector Map
vector_map -left-> behavior_planner : vector map
'' Autoware API <-> Infrastructure
autoware_api -up-> fms : <color:blue>lock\n <color:blue>request
fms -down-> autoware_api : <color:blue>right-of-way\n <color:blue>state
autoware_api -up-> automatic_shutter : <color:green>approach\n <color:green>notification
automatic_shutter -down-> autoware_api : <color:green>shutter\n <color:green>state
autoware_api -up-> manual_shutter : <color:blue>open/close\n <color:blue>command
manual_shutter -down-> autoware_api : <color:blue>shutter\n <color:blue>state
autoware_api -up-> remote_controllable_traffic_light : <color:green>light change\n <color:green>command
remote_controllable_traffic_light -down-> autoware_api : <color:green>light\n <color:green>state
autoware_api -up-> warning_light : <color:blue>activation\n <color:blue>command
warning_light -down-> autoware_api : <color:blue>warning light\n <color:blue>state
' Layout
'' Infrastructure
fms -[hidden]right-> automatic_shutter
automatic_shutter -[hidden]right-> manual_shutter
manual_shutter -[hidden]right-> remote_controllable_traffic_light
remote_controllable_traffic_light -[hidden]right-> warning_light
@enduml
Planner and each infrastructure communicate with each other using common abstracted messages.
- Special handling for each infrastructure is not scalable. The interface is defined as an Autoware API.
- The requirements for each infrastructure are slightly different, but will be handled flexibly.
FMS: Intersection coordination when multiple vehicles are in operation and the relevant lane is occupied
- Automatic shutter: Open the shutter when approaching/close it when leaving
- Manual shutter: Have the driver open and close the shutter.
- Remote control signal: Have the driver change the signal status to match the direction of travel.
- Warning light: Activate the warning light
Support different communication methods for different infrastructures
- HTTP
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Name |
---|
nlohmann-json-dev |
Dependant Packages
Name | Deps |
---|---|
behavior_velocity_planner |
Launch files
Messages
Services
Plugins
Recent questions tagged behavior_velocity_virtual_traffic_light_module 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/ieiauto/autodrrt.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-05-30 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Kosuke Takeuchi
- Tomoya Kimura
- Shumpei Wakabayashi
Authors
- Kosuke Takeuchi
Virtual Traffic Light
Role
Autonomous vehicles have to cooperate with the infrastructures such as:
- Warehouse shutters
- Traffic lights with V2X support
- Communication devices at intersections
- Fleet Management Systems (FMS)
The following items are example cases:
-
Traffic control by traffic lights with V2X support
-
Intersection coordination of multiple vehicles by FMS.
It’s possible to make each function individually, however, the use cases can be generalized with these three elements.
-
start
: Start a cooperation procedure after the vehicle enters a certain zone. -
stop
: Stop at a defined stop line according to the status received from infrastructures. -
end
: Finalize the cooperation procedure after the vehicle reaches the exit zone. This should be done within the range of stable communication.
This module sends/receives status from infrastructures and plans the velocity of the cooperation result.
System Configuration Diagram
@startuml
!theme cerulean-outline
' Component
node "Autoware ECU" as autoware_ecu {
component "Behavior Planner" as behavior_planner
component "Autoware API" as autoware_api
database "Vector Map" as vector_map
note bottom of vector_map
Communication metadata is stored.
end note
}
package "Infrastructures" as infrastructures {
node "FMS" as fms
node "Automatic Shutter" as automatic_shutter
node "Manual Shutter" as manual_shutter
node "Remove Controllable Traffic Light" as remote_controllable_traffic_light
node "Warning Light" as warning_light
}
' Relationship
'' Behavior Planner <-> Autoware API
behavior_planner -up-> autoware_api : infrastructure\n command
autoware_api -down-> behavior_planner : infrastructure\n state
'' Vector Map
vector_map -left-> behavior_planner : vector map
'' Autoware API <-> Infrastructure
autoware_api -up-> fms : <color:blue>lock\n <color:blue>request
fms -down-> autoware_api : <color:blue>right-of-way\n <color:blue>state
autoware_api -up-> automatic_shutter : <color:green>approach\n <color:green>notification
automatic_shutter -down-> autoware_api : <color:green>shutter\n <color:green>state
autoware_api -up-> manual_shutter : <color:blue>open/close\n <color:blue>command
manual_shutter -down-> autoware_api : <color:blue>shutter\n <color:blue>state
autoware_api -up-> remote_controllable_traffic_light : <color:green>light change\n <color:green>command
remote_controllable_traffic_light -down-> autoware_api : <color:green>light\n <color:green>state
autoware_api -up-> warning_light : <color:blue>activation\n <color:blue>command
warning_light -down-> autoware_api : <color:blue>warning light\n <color:blue>state
' Layout
'' Infrastructure
fms -[hidden]right-> automatic_shutter
automatic_shutter -[hidden]right-> manual_shutter
manual_shutter -[hidden]right-> remote_controllable_traffic_light
remote_controllable_traffic_light -[hidden]right-> warning_light
@enduml
Planner and each infrastructure communicate with each other using common abstracted messages.
- Special handling for each infrastructure is not scalable. The interface is defined as an Autoware API.
- The requirements for each infrastructure are slightly different, but will be handled flexibly.
FMS: Intersection coordination when multiple vehicles are in operation and the relevant lane is occupied
- Automatic shutter: Open the shutter when approaching/close it when leaving
- Manual shutter: Have the driver open and close the shutter.
- Remote control signal: Have the driver change the signal status to match the direction of travel.
- Warning light: Activate the warning light
Support different communication methods for different infrastructures
- HTTP
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Name |
---|
nlohmann-json-dev |
Dependant Packages
Name | Deps |
---|---|
behavior_velocity_planner |