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

0.46.0 (2025-06-20)

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

• feat(goal_planner): check previous module's stopline when regenerate candidates (#10776)

• feat(goal_planner): add param of path_decision_state_controller.check_collision_duration (#10767)

  • feat(goal_planner): add param of path_decision_state_controller.check_collision_duration

  * update readme ---------

• fix(goal_planner): publish debug_objects_extraction_polygon (#10766)

• feat: goal planner checking border; clean up #10725 (#10755)

  • merging updates in #10725

  * fix hash and typo, precommit ---------

• feat(behavior_path_planner): organize a part of behavior path info/debug markers (#10729)

  • feat(behavior_path_planner): organize a part of behavior path info/debug markers

  * Update planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp Co-authored-by: Kosuke Takeuchi <<kosuke.tnp@gmail.com>>

  * Update planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/util.cpp Co-authored-by: Kosuke Takeuchi <<kosuke.tnp@gmail.com>> ---------Co-authored-by: Kosuke Takeuchi <<kosuke.tnp@gmail.com>>

• Contributors: Kosuke Takeuchi, Mamoru Sobue, TaikiYamada4, Takayuki Murooka, Yuxuan Liu

0.45.0 (2025-05-22)

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

• refactor(departure_checker): move lane departure checker class to departure_checker (#10337)

  • RT1-9640: separate lane departure checker library
  • move back parameter
  • separating parameters
  • renamed to boundary departure checker
  • pre-commit
  • remove trajectory deviation
  • rename namespace
  • move boundary departure checker to common folder

  * rename class name ---------

• refactor(goal_planner): do not use only_route_lanes = false (#10525) feat(route_handler): remove only_route_lanes argument because it is not used

• Contributors: Mamoru Sobue, TaikiYamada4, Zulfaqar Azmi

0.44.2 (2025-06-10)

0.44.1 (2025-05-01)

0.44.0 (2025-04-18)

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

• fix(behavior_path_planner): apply THROTTLE to frequent log (#10417)

• feat(start/goal_planner): use common max steer angle parameter from vehicle_info (#10321)

  • fix(autoware_behavior_path_start_planner_module): update parameter name for geometric pull out max steer angle
  • fix(docs): update unit for max_steer_angle_margin_scale in README

  * fix dead link ---------

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