Goal Planner design

Purpose / Role

goal_planner generates a smooth path toward the goal and additionally searches for safe path and goal to execute dynamic pull_over on the road shoulders lanes following the traffic rules.

Design

If goal modification is not allowed, just park at the designated fixed goal using fixed_goal_planner.

If allowed, rough_goal_planner works to park around the vacant spots in the shoulder lanes around the goal by executing pull_over toward left or right side of the road lanes.

@startuml
package goal_planner{

    class GoalPlannerModule {}

    package rough_goal_planner <<Rectangle>>{

        package lane_parking <<Rectangle>>{
            class ShiftPullOver {}
            class GeometricPullOver {}
        }

        package freespace_parking <<Rectangle>>{
            class FreeSpacePullOver {}
        }

        class GoalSearcher {}

        struct GoalCandidates {}
        struct PullOverPath{}

        abstract class PullOverPlannerBase {}
    }

    package fixed_goal_planner <<Rectangle>>{
        abstract class FixedGoalPlannerBase {}
        class DefaultFixedPlanner{}
    }
}


package utils{
    class PathShifter {}

    class GeometricParallelParking {}
}

package freespace_planning_algorithms
 {
    class AstarSearch{}
    class RRTStar{}
}

' goal planner
ShiftPullOver --|> PullOverPlannerBase
GeometricPullOver --|> PullOverPlannerBase
FreeSpacePullOver --|> PullOverPlannerBase
DefaultFixedPlanner --|> FixedGoalPlannerBase

PathShifter --o ShiftPullOver
GeometricParallelParking --o GeometricPullOver
AstarSearch --o FreeSpacePullOver
RRTStar --o FreeSpacePullOver

PullOverPlannerBase --o GoalPlannerModule
FixedGoalPlannerBase --o GoalPlannerModule

PullOverPath --o PullOverPlannerBase

@enduml

trigger condition

fixed_goal_planner

fixed_goal_planner just plans a smooth path to the designated goal. NOTE: this planner does not perform the several features described below, such as “goal search”, “collision check”, “safety check”, etc.

fixed_goal_planner is used when both conditions are met.

• Route is set with allow_goal_modification=false. This is the default.
• The goal is set on road lanes.

If the path given to goal_planner covers the goal, fixed_goal_planner smoothly connects the goal and the path points around the goal within the radius of refine_goal_search_radius_range using spline interpolation.

rough_goal_planner

pull over on road lane

rough_goal_planner is triggered following the behavior_path_planner scene module interface namely through isExecutionRequested function and it returns true when following two conditions are met.

• The distance between the goal and ego get shorter than $\max$(pull_over_minimum_request_length, stop distance with decel and jerk constraints).

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Changelog for package autoware_behavior_path_goal_planner_module

0.48.0 (2025-11-18)

• Merge remote-tracking branch 'origin/main' into humble

• feat(autoware_lanelet2_utils): replace ported functions from autoware_lanelet2_extension (#11593) Co-authored-by: Mamoru Sobue <<hilo.soblin@gmail.com>>

• fix: tf2 uses hpp headers in rolling (and is backported) (#11620)

• fix(goal_planner): fix bezier path first yaw angle (#11601)

• fix(goal_planner): prevent out_of_range crashes with bounds checking (#11580)

• fix(goal_planner): hasPreviousModulePathShapeChanged die (#11579)

• fix(goal_planner): failed to generate candidate paths when entering another lane for avoidance (#11560)

• feat(turn_signal_decider): add threshold based on distance to lane bound for turning off blinker (#11519)

  • feat(turn_signal_decider): add threshold based on distance to lane bound for turning off blinker
  • fix default value in readme
  • Update readme

  * update parameter description ---------

• fix(goal_planner): fix iterator bug (#11551)

• fix(goal_planner): correct the lane_id and velocity interpolation logic in smooth_goal_connection (#11544)

  • fix(goal_planner): correct the lane_id and velocity interpolation logic in smooth_goal_connection (#11508)
  • feat(goal_planner): enhance goal refinement with route handler integration
  • Updated [set_goal]{.title-ref} and [refinePathForGoal]{.title-ref} functions to include a [route_handler]{.title-ref} parameter for improved path refinement.
  • Introduced utility functions to fill lane IDs and longitudinal velocities based on the input path.

  - Removed redundant lane ID filling logic to streamline goal setting process. This change aims to enhance the accuracy of goal positioning and path planning by leveraging route information.

  • fix(utils): enhance longitudinal velocity handling in fillLongitudinalVelocityFromInputPath
  • Added a check to ensure the input path has at least two points before processing.
  • Removed the last point from the input path to avoid zero velocity issues.

  - Updated lane ID and longitudinal velocity assignment logic in set_goal to streamline the process. These changes improve the robustness of the path planning by ensuring valid input and clearer handling of velocity data.

  • refactor(utils): enhance lanelet handling in path processing
  • Introduced a template function to retrieve unique lanelets from a given path, improving modularity and reusability.
  • Updated [fillLaneIdsFromMap]{.title-ref} to utilize the new lanelet retrieval function, streamlining lane ID assignment.

  - Enhanced [set_goal]{.title-ref} to incorporate the unique lanelets for more accurate lane ID filling. These changes aim to improve the efficiency and clarity of lanelet management within the path planning process.

  * refactor(utils): reorder parameters in set_goal function for clarity ---------

  • fix(utils): update lane ID assignment in fillLaneIdsFromMap function

  * fix(utils): add TODO comment regarding potential segmentation fault in lane ID assignment ---------

• fix(goal_planner): fix path safe state chattering (#11530)

• fix(goal_planner): remove duplicated process (#11535)

• feat(goal_planner): change debug marker color when DECIDING

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