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autoware_trajectory_follower_base package from autoware_universe repo

autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_cuda_dependency_meta autoware_deprecated_boundary_departure_checker autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_obstacle_proximity_checker autoware_path_distance_calculator autoware_time_utils autoware_traffic_light_compliance_checker autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_command_gate autoware_control_performance_analysis autoware_control_validator autoware_external_cmd_selector autoware_joy_controller autoware_lane_departure_checker autoware_mpc_lateral_controller autoware_obstacle_collision_checker autoware_operation_mode_transition_manager autoware_pid_longitudinal_controller autoware_predicted_path_checker autoware_pure_pursuit autoware_shift_decider autoware_smart_mpc_trajectory_follower autoware_spheric_collision_detector autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_tensorrt_vad autoware_control_evaluator autoware_evaluation_adapter autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_initialization_requester autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion autoware_bytetrack autoware_camera_streampetr autoware_cluster_merger autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_ground_segmentation_cuda autoware_image_object_locator autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_frnet autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_sorter autoware_occupancy_grid_map_outlier_filter autoware_predicted_path_postprocessor autoware_probabilistic_occupancy_grid_map autoware_ptv3 autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_bevformer autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_pipeline autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_in_lane_mrm_planner autoware_manual_lane_change_handler autoware_minimum_rule_based_planner autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_trajectory_adapter autoware_trajectory_concatenator autoware_trajectory_gate autoware_trajectory_modifier autoware_trajectory_ranker autoware_trajectory_selector autoware_trajectory_validator autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_direction_change_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_roundabout_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_boundary_departure_prevention_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_calibration_status_classifier autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_carla_interface autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_dummy_traffic_light_publisher autoware_fault_injection autoware_redundancy_command_selector autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_state_monitor autoware_adapi_visualizers autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_merger autoware_diagnostic_graph_utils autoware_driving_mode_manager autoware_duplicated_node_checker autoware_generic_service_divider autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_mrm_in_lane_stop_operator autoware_mrm_reset_manager autoware_mrm_steering_hold_stop_operator autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_redundancy_adapi_switcher autoware_redundancy_switcher_interface autoware_redundancy_switcher_interface_plugins autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_traffic_light_rviz_plugin tier4_active_generator_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_manual_lane_change_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

ROS Distro
github

API Docs
Browse Code

Package Summary

Version 0.53.0
License Apache 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 2026-10-23
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Library for generating lateral and longitudinal controls following a trajectory

Maintainers

  • Maxime CLEMENT
  • Alqudah Mohammad
  • Zulfaqar Azmi
  • Takumi Odashima

Authors

  • Takamasa Horibe
  • Takayuki Murooka
control/autoware_trajectory_follower_base/README.md

Trajectory Follower

This is the design document for the trajectory_follower package.

Purpose / Use cases

This package provides the interface of longitudinal and lateral controllers used by the node of the autoware_trajectory_follower_node package. We can implement a detailed controller by deriving the longitudinal and lateral base interfaces.

Design

There are lateral and longitudinal base interface classes and each algorithm inherits from this class to implement. The interface class has the following base functions.

  • isReady(): Check if the control is ready to compute.
  • run(): Compute control commands and return to Trajectory Follower Nodes. This must be implemented by inherited algorithms.
  • sync(): Input the result of running the lateral controller. Only the longitudinal controller has this function.
    • steer angle convergence
      • allow keeping stopped until steer is converged.

See the Design of Trajectory Follower Nodes for how these functions work in the node.

Separated lateral (steering) and longitudinal (velocity) controls

This longitudinal controller assumes that the roles of lateral and longitudinal control are separated as follows.

  • Lateral control computes a target steering to keep the vehicle on the trajectory, assuming perfect velocity tracking.
  • Longitudinal control computes a target velocity/acceleration to keep the vehicle velocity on the trajectory speed, assuming perfect trajectory tracking.

Ideally, dealing with the lateral and longitudinal control as a single mixed problem can achieve high performance. In contrast, there are two reasons to provide velocity controller as a stand-alone function, described below.

Complex requirements for longitudinal motion

The longitudinal vehicle behavior that humans expect is difficult to express in a single logic. For example, the expected behavior just before stopping differs depending on whether the ego-position is ahead/behind of the stop line, or whether the current speed is higher/lower than the target speed to achieve a human-like movement.

In addition, some vehicles have difficulty measuring the ego-speed at extremely low speeds. In such cases, a configuration that can improve the functionality of the longitudinal control without affecting the lateral control is important.

There are many characteristics and needs that are unique to longitudinal control. Designing them separately from the lateral control keeps the modules less coupled and improves maintainability.

Nonlinear coupling of lateral and longitudinal motion

The lat-lon mixed control problem is very complex and uses nonlinear optimization to achieve high performance. Since it is difficult to guarantee the convergence of the nonlinear optimization, a simple control logic is also necessary for development.

Also, the benefits of simultaneous longitudinal and lateral control are small if the vehicle doesn’t move at high speed.

CHANGELOG

Changelog for package autoware_trajectory_follower_base

0.53.0 (2026-09-29)

0.52.0 (2026-06-30)

0.51.0 (2026-05-01)

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

  • feat(steer_offset_estimator): implement calibration logic (#12004)

    • refactor(steer_offset_estimator): restructure node and estimator implementation
    • Updated the CMakeLists.txt to reflect new library and executable structure.
    • Removed outdated README and added a new detailed README.md for better documentation.
    • Introduced a new node class for steer offset estimation and refactored the estimator logic.
    • Added utility functions for pose and steering calculations.
    • Implemented tests for the estimator and utility functions to ensure reliability.
    • Updated parameters in the schema and configuration files for improved clarity and functionality.

    - Removed deprecated files and images to streamline the package. This commit enhances the overall architecture and usability of the steer offset estimator package.

    • refactor(steer_offset_estimator): update CMake configuration and remove deprecated files
    • Bump CMake minimum version to 3.14 and adjust project structure in CMakeLists.txt.
    • Refactor library and executable definitions for clarity and maintainability.
    • Remove the main.cpp file as the node is now defined in a separate header and source file.
    • Update parameter comments in the configuration file for better clarity.

    - Remove the glog dependency from package.xml to streamline dependencies. This commit enhances the organization and readability of the steer offset estimator package.

    • docs(steer_offset_estimator): enhance README formatting for mathematical equations
    • Improved the formatting of mathematical equations in the README.md to enhance readability by adding line breaks.

    - Removed the monitoring section to streamline the documentation. This update aims to provide clearer guidance on the steering offset estimation algorithm and its implementation details.

    • docs(steer_offset_estimator): add debug info output section to README
    • docs(steer_offset_estimator): improve formatting of algorithm steps in README
    • feat(steer_offset_estimator): enhance estimator parameters and update calculations
    • Added new parameters: measurement_noise, denominator_floor, and covariance_floor to improve estimation stability.
    • Refactored the update logic to incorporate Kalman gain and residual calculations, enhancing the accuracy of the steering offset estimation.

    - Updated debug output to reflect new calculation metrics, including kalman_gain and residual. This commit improves the robustness and performance of the steer offset estimator by refining its parameterization and calculation methods.

    • feat(steer_offset_estimator): add new parameters for enhanced estimation
    • Introduced measurement_noise, denominator_floor, and covariance_floor parameters to the SteerOffsetEstimatorParameters structure.

    - Updated the parameter loading function to accommodate the new parameters, improving the configurability of the estimator. This change aims to enhance the performance and stability of the steering offset estimation process by allowing for more precise parameter tuning.

    • fix(steer_offset_estimator): update debug output to use standard deviation
    • Modified the debug output format in the SteerOffsetEstimatorNode to replace covariance with standard deviation for clarity.
    • This change enhances the readability of the debug information by providing a more intuitive metric for uncertainty.
    • refactor(steer_offset_estimator): rename and restructure noise parameters for clarity
    • Renamed measurement_noise to measurement_noise_covariance and added process_noise_covariance to the SteerOffsetEstimatorParameters structure for better clarity.
    • Updated the parameter loading function to reflect these changes, enhancing the configurability of the estimator.

    - Refactored the update logic to utilize the new covariance

File truncated at 100 lines see the full file

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autoware_trajectory_follower_base package from autoware_universe repo

autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_cuda_dependency_meta autoware_deprecated_boundary_departure_checker autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_obstacle_proximity_checker autoware_path_distance_calculator autoware_time_utils autoware_traffic_light_compliance_checker autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_command_gate autoware_control_performance_analysis autoware_control_validator autoware_external_cmd_selector autoware_joy_controller autoware_lane_departure_checker autoware_mpc_lateral_controller autoware_obstacle_collision_checker autoware_operation_mode_transition_manager autoware_pid_longitudinal_controller autoware_predicted_path_checker autoware_pure_pursuit autoware_shift_decider autoware_smart_mpc_trajectory_follower autoware_spheric_collision_detector autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_tensorrt_vad autoware_control_evaluator autoware_evaluation_adapter autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_initialization_requester autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion autoware_bytetrack autoware_camera_streampetr autoware_cluster_merger autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_ground_segmentation_cuda autoware_image_object_locator autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_frnet autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_sorter autoware_occupancy_grid_map_outlier_filter autoware_predicted_path_postprocessor autoware_probabilistic_occupancy_grid_map autoware_ptv3 autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_bevformer autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_pipeline autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_in_lane_mrm_planner autoware_manual_lane_change_handler autoware_minimum_rule_based_planner autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_trajectory_adapter autoware_trajectory_concatenator autoware_trajectory_gate autoware_trajectory_modifier autoware_trajectory_ranker autoware_trajectory_selector autoware_trajectory_validator autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_direction_change_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_roundabout_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_boundary_departure_prevention_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_calibration_status_classifier autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_carla_interface autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_dummy_traffic_light_publisher autoware_fault_injection autoware_redundancy_command_selector autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_state_monitor autoware_adapi_visualizers autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_merger autoware_diagnostic_graph_utils autoware_driving_mode_manager autoware_duplicated_node_checker autoware_generic_service_divider autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_mrm_in_lane_stop_operator autoware_mrm_reset_manager autoware_mrm_steering_hold_stop_operator autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_redundancy_adapi_switcher autoware_redundancy_switcher_interface autoware_redundancy_switcher_interface_plugins autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_traffic_light_rviz_plugin tier4_active_generator_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_manual_lane_change_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

ROS Distro
github

API Docs
Browse Code

Package Summary

Version 0.53.0
License Apache 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 2026-10-23
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Library for generating lateral and longitudinal controls following a trajectory

Maintainers

  • Maxime CLEMENT
  • Alqudah Mohammad
  • Zulfaqar Azmi
  • Takumi Odashima

Authors

  • Takamasa Horibe
  • Takayuki Murooka
control/autoware_trajectory_follower_base/README.md

Trajectory Follower

This is the design document for the trajectory_follower package.

Purpose / Use cases

This package provides the interface of longitudinal and lateral controllers used by the node of the autoware_trajectory_follower_node package. We can implement a detailed controller by deriving the longitudinal and lateral base interfaces.

Design

There are lateral and longitudinal base interface classes and each algorithm inherits from this class to implement. The interface class has the following base functions.

  • isReady(): Check if the control is ready to compute.
  • run(): Compute control commands and return to Trajectory Follower Nodes. This must be implemented by inherited algorithms.
  • sync(): Input the result of running the lateral controller. Only the longitudinal controller has this function.
    • steer angle convergence
      • allow keeping stopped until steer is converged.

See the Design of Trajectory Follower Nodes for how these functions work in the node.

Separated lateral (steering) and longitudinal (velocity) controls

This longitudinal controller assumes that the roles of lateral and longitudinal control are separated as follows.

  • Lateral control computes a target steering to keep the vehicle on the trajectory, assuming perfect velocity tracking.
  • Longitudinal control computes a target velocity/acceleration to keep the vehicle velocity on the trajectory speed, assuming perfect trajectory tracking.

Ideally, dealing with the lateral and longitudinal control as a single mixed problem can achieve high performance. In contrast, there are two reasons to provide velocity controller as a stand-alone function, described below.

Complex requirements for longitudinal motion

The longitudinal vehicle behavior that humans expect is difficult to express in a single logic. For example, the expected behavior just before stopping differs depending on whether the ego-position is ahead/behind of the stop line, or whether the current speed is higher/lower than the target speed to achieve a human-like movement.

In addition, some vehicles have difficulty measuring the ego-speed at extremely low speeds. In such cases, a configuration that can improve the functionality of the longitudinal control without affecting the lateral control is important.

There are many characteristics and needs that are unique to longitudinal control. Designing them separately from the lateral control keeps the modules less coupled and improves maintainability.

Nonlinear coupling of lateral and longitudinal motion

The lat-lon mixed control problem is very complex and uses nonlinear optimization to achieve high performance. Since it is difficult to guarantee the convergence of the nonlinear optimization, a simple control logic is also necessary for development.

Also, the benefits of simultaneous longitudinal and lateral control are small if the vehicle doesn’t move at high speed.

CHANGELOG

Changelog for package autoware_trajectory_follower_base

0.53.0 (2026-09-29)

0.52.0 (2026-06-30)

0.51.0 (2026-05-01)

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

  • feat(steer_offset_estimator): implement calibration logic (#12004)

    • refactor(steer_offset_estimator): restructure node and estimator implementation
    • Updated the CMakeLists.txt to reflect new library and executable structure.
    • Removed outdated README and added a new detailed README.md for better documentation.
    • Introduced a new node class for steer offset estimation and refactored the estimator logic.
    • Added utility functions for pose and steering calculations.
    • Implemented tests for the estimator and utility functions to ensure reliability.
    • Updated parameters in the schema and configuration files for improved clarity and functionality.

    - Removed deprecated files and images to streamline the package. This commit enhances the overall architecture and usability of the steer offset estimator package.

    • refactor(steer_offset_estimator): update CMake configuration and remove deprecated files
    • Bump CMake minimum version to 3.14 and adjust project structure in CMakeLists.txt.
    • Refactor library and executable definitions for clarity and maintainability.
    • Remove the main.cpp file as the node is now defined in a separate header and source file.
    • Update parameter comments in the configuration file for better clarity.

    - Remove the glog dependency from package.xml to streamline dependencies. This commit enhances the organization and readability of the steer offset estimator package.

    • docs(steer_offset_estimator): enhance README formatting for mathematical equations
    • Improved the formatting of mathematical equations in the README.md to enhance readability by adding line breaks.

    - Removed the monitoring section to streamline the documentation. This update aims to provide clearer guidance on the steering offset estimation algorithm and its implementation details.

    • docs(steer_offset_estimator): add debug info output section to README
    • docs(steer_offset_estimator): improve formatting of algorithm steps in README
    • feat(steer_offset_estimator): enhance estimator parameters and update calculations
    • Added new parameters: measurement_noise, denominator_floor, and covariance_floor to improve estimation stability.
    • Refactored the update logic to incorporate Kalman gain and residual calculations, enhancing the accuracy of the steering offset estimation.

    - Updated debug output to reflect new calculation metrics, including kalman_gain and residual. This commit improves the robustness and performance of the steer offset estimator by refining its parameterization and calculation methods.

    • feat(steer_offset_estimator): add new parameters for enhanced estimation
    • Introduced measurement_noise, denominator_floor, and covariance_floor parameters to the SteerOffsetEstimatorParameters structure.

    - Updated the parameter loading function to accommodate the new parameters, improving the configurability of the estimator. This change aims to enhance the performance and stability of the steering offset estimation process by allowing for more precise parameter tuning.

    • fix(steer_offset_estimator): update debug output to use standard deviation
    • Modified the debug output format in the SteerOffsetEstimatorNode to replace covariance with standard deviation for clarity.
    • This change enhances the readability of the debug information by providing a more intuitive metric for uncertainty.
    • refactor(steer_offset_estimator): rename and restructure noise parameters for clarity
    • Renamed measurement_noise to measurement_noise_covariance and added process_noise_covariance to the SteerOffsetEstimatorParameters structure for better clarity.
    • Updated the parameter loading function to reflect these changes, enhancing the configurability of the estimator.

    - Refactored the update logic to utilize the new covariance

File truncated at 100 lines see the full file

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_trajectory_follower_base at Robotics Stack Exchange

No version for distro kilted showing github. Known supported distros are highlighted in the buttons above.
Package symbol

autoware_trajectory_follower_base package from autoware_universe repo

autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_cuda_dependency_meta autoware_deprecated_boundary_departure_checker autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_obstacle_proximity_checker autoware_path_distance_calculator autoware_time_utils autoware_traffic_light_compliance_checker autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_command_gate autoware_control_performance_analysis autoware_control_validator autoware_external_cmd_selector autoware_joy_controller autoware_lane_departure_checker autoware_mpc_lateral_controller autoware_obstacle_collision_checker autoware_operation_mode_transition_manager autoware_pid_longitudinal_controller autoware_predicted_path_checker autoware_pure_pursuit autoware_shift_decider autoware_smart_mpc_trajectory_follower autoware_spheric_collision_detector autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_tensorrt_vad autoware_control_evaluator autoware_evaluation_adapter autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_initialization_requester autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion autoware_bytetrack autoware_camera_streampetr autoware_cluster_merger autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_ground_segmentation_cuda autoware_image_object_locator autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_frnet autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_sorter autoware_occupancy_grid_map_outlier_filter autoware_predicted_path_postprocessor autoware_probabilistic_occupancy_grid_map autoware_ptv3 autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_bevformer autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_pipeline autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_in_lane_mrm_planner autoware_manual_lane_change_handler autoware_minimum_rule_based_planner autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_trajectory_adapter autoware_trajectory_concatenator autoware_trajectory_gate autoware_trajectory_modifier autoware_trajectory_ranker autoware_trajectory_selector autoware_trajectory_validator autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_direction_change_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_roundabout_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_boundary_departure_prevention_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_calibration_status_classifier autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_carla_interface autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_dummy_traffic_light_publisher autoware_fault_injection autoware_redundancy_command_selector autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_state_monitor autoware_adapi_visualizers autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_merger autoware_diagnostic_graph_utils autoware_driving_mode_manager autoware_duplicated_node_checker autoware_generic_service_divider autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_mrm_in_lane_stop_operator autoware_mrm_reset_manager autoware_mrm_steering_hold_stop_operator autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_redundancy_adapi_switcher autoware_redundancy_switcher_interface autoware_redundancy_switcher_interface_plugins autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_traffic_light_rviz_plugin tier4_active_generator_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_manual_lane_change_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

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Package Summary

Version 0.53.0
License Apache 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 2026-10-23
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Library for generating lateral and longitudinal controls following a trajectory

Maintainers

  • Maxime CLEMENT
  • Alqudah Mohammad
  • Zulfaqar Azmi
  • Takumi Odashima

Authors

  • Takamasa Horibe
  • Takayuki Murooka
control/autoware_trajectory_follower_base/README.md

Trajectory Follower

This is the design document for the trajectory_follower package.

Purpose / Use cases

This package provides the interface of longitudinal and lateral controllers used by the node of the autoware_trajectory_follower_node package. We can implement a detailed controller by deriving the longitudinal and lateral base interfaces.

Design

There are lateral and longitudinal base interface classes and each algorithm inherits from this class to implement. The interface class has the following base functions.

  • isReady(): Check if the control is ready to compute.
  • run(): Compute control commands and return to Trajectory Follower Nodes. This must be implemented by inherited algorithms.
  • sync(): Input the result of running the lateral controller. Only the longitudinal controller has this function.
    • steer angle convergence
      • allow keeping stopped until steer is converged.

See the Design of Trajectory Follower Nodes for how these functions work in the node.

Separated lateral (steering) and longitudinal (velocity) controls

This longitudinal controller assumes that the roles of lateral and longitudinal control are separated as follows.

  • Lateral control computes a target steering to keep the vehicle on the trajectory, assuming perfect velocity tracking.
  • Longitudinal control computes a target velocity/acceleration to keep the vehicle velocity on the trajectory speed, assuming perfect trajectory tracking.

Ideally, dealing with the lateral and longitudinal control as a single mixed problem can achieve high performance. In contrast, there are two reasons to provide velocity controller as a stand-alone function, described below.

Complex requirements for longitudinal motion

The longitudinal vehicle behavior that humans expect is difficult to express in a single logic. For example, the expected behavior just before stopping differs depending on whether the ego-position is ahead/behind of the stop line, or whether the current speed is higher/lower than the target speed to achieve a human-like movement.

In addition, some vehicles have difficulty measuring the ego-speed at extremely low speeds. In such cases, a configuration that can improve the functionality of the longitudinal control without affecting the lateral control is important.

There are many characteristics and needs that are unique to longitudinal control. Designing them separately from the lateral control keeps the modules less coupled and improves maintainability.

Nonlinear coupling of lateral and longitudinal motion

The lat-lon mixed control problem is very complex and uses nonlinear optimization to achieve high performance. Since it is difficult to guarantee the convergence of the nonlinear optimization, a simple control logic is also necessary for development.

Also, the benefits of simultaneous longitudinal and lateral control are small if the vehicle doesn’t move at high speed.

CHANGELOG

Changelog for package autoware_trajectory_follower_base

0.53.0 (2026-09-29)

0.52.0 (2026-06-30)

0.51.0 (2026-05-01)

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

  • feat(steer_offset_estimator): implement calibration logic (#12004)

    • refactor(steer_offset_estimator): restructure node and estimator implementation
    • Updated the CMakeLists.txt to reflect new library and executable structure.
    • Removed outdated README and added a new detailed README.md for better documentation.
    • Introduced a new node class for steer offset estimation and refactored the estimator logic.
    • Added utility functions for pose and steering calculations.
    • Implemented tests for the estimator and utility functions to ensure reliability.
    • Updated parameters in the schema and configuration files for improved clarity and functionality.

    - Removed deprecated files and images to streamline the package. This commit enhances the overall architecture and usability of the steer offset estimator package.

    • refactor(steer_offset_estimator): update CMake configuration and remove deprecated files
    • Bump CMake minimum version to 3.14 and adjust project structure in CMakeLists.txt.
    • Refactor library and executable definitions for clarity and maintainability.
    • Remove the main.cpp file as the node is now defined in a separate header and source file.
    • Update parameter comments in the configuration file for better clarity.

    - Remove the glog dependency from package.xml to streamline dependencies. This commit enhances the organization and readability of the steer offset estimator package.

    • docs(steer_offset_estimator): enhance README formatting for mathematical equations
    • Improved the formatting of mathematical equations in the README.md to enhance readability by adding line breaks.

    - Removed the monitoring section to streamline the documentation. This update aims to provide clearer guidance on the steering offset estimation algorithm and its implementation details.

    • docs(steer_offset_estimator): add debug info output section to README
    • docs(steer_offset_estimator): improve formatting of algorithm steps in README
    • feat(steer_offset_estimator): enhance estimator parameters and update calculations
    • Added new parameters: measurement_noise, denominator_floor, and covariance_floor to improve estimation stability.
    • Refactored the update logic to incorporate Kalman gain and residual calculations, enhancing the accuracy of the steering offset estimation.

    - Updated debug output to reflect new calculation metrics, including kalman_gain and residual. This commit improves the robustness and performance of the steer offset estimator by refining its parameterization and calculation methods.

    • feat(steer_offset_estimator): add new parameters for enhanced estimation
    • Introduced measurement_noise, denominator_floor, and covariance_floor parameters to the SteerOffsetEstimatorParameters structure.

    - Updated the parameter loading function to accommodate the new parameters, improving the configurability of the estimator. This change aims to enhance the performance and stability of the steering offset estimation process by allowing for more precise parameter tuning.

    • fix(steer_offset_estimator): update debug output to use standard deviation
    • Modified the debug output format in the SteerOffsetEstimatorNode to replace covariance with standard deviation for clarity.
    • This change enhances the readability of the debug information by providing a more intuitive metric for uncertainty.
    • refactor(steer_offset_estimator): rename and restructure noise parameters for clarity
    • Renamed measurement_noise to measurement_noise_covariance and added process_noise_covariance to the SteerOffsetEstimatorParameters structure for better clarity.
    • Updated the parameter loading function to reflect these changes, enhancing the configurability of the estimator.

    - Refactored the update logic to utilize the new covariance

File truncated at 100 lines see the full file

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_trajectory_follower_base at Robotics Stack Exchange

No version for distro lyrical showing github. Known supported distros are highlighted in the buttons above.
Package symbol

autoware_trajectory_follower_base package from autoware_universe repo

autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_cuda_dependency_meta autoware_deprecated_boundary_departure_checker autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_obstacle_proximity_checker autoware_path_distance_calculator autoware_time_utils autoware_traffic_light_compliance_checker autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_command_gate autoware_control_performance_analysis autoware_control_validator autoware_external_cmd_selector autoware_joy_controller autoware_lane_departure_checker autoware_mpc_lateral_controller autoware_obstacle_collision_checker autoware_operation_mode_transition_manager autoware_pid_longitudinal_controller autoware_predicted_path_checker autoware_pure_pursuit autoware_shift_decider autoware_smart_mpc_trajectory_follower autoware_spheric_collision_detector autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_tensorrt_vad autoware_control_evaluator autoware_evaluation_adapter autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_initialization_requester autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion autoware_bytetrack autoware_camera_streampetr autoware_cluster_merger autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_ground_segmentation_cuda autoware_image_object_locator autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_frnet autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_sorter autoware_occupancy_grid_map_outlier_filter autoware_predicted_path_postprocessor autoware_probabilistic_occupancy_grid_map autoware_ptv3 autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_bevformer autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_pipeline autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_in_lane_mrm_planner autoware_manual_lane_change_handler autoware_minimum_rule_based_planner autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_trajectory_adapter autoware_trajectory_concatenator autoware_trajectory_gate autoware_trajectory_modifier autoware_trajectory_ranker autoware_trajectory_selector autoware_trajectory_validator autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_direction_change_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_roundabout_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_boundary_departure_prevention_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_calibration_status_classifier autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_carla_interface autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_dummy_traffic_light_publisher autoware_fault_injection autoware_redundancy_command_selector autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_state_monitor autoware_adapi_visualizers autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_merger autoware_diagnostic_graph_utils autoware_driving_mode_manager autoware_duplicated_node_checker autoware_generic_service_divider autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_mrm_in_lane_stop_operator autoware_mrm_reset_manager autoware_mrm_steering_hold_stop_operator autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_redundancy_adapi_switcher autoware_redundancy_switcher_interface autoware_redundancy_switcher_interface_plugins autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_traffic_light_rviz_plugin tier4_active_generator_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_manual_lane_change_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

ROS Distro
github

API Docs
Browse Code

Package Summary

Version 0.53.0
License Apache 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 2026-10-23
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Library for generating lateral and longitudinal controls following a trajectory

Maintainers

  • Maxime CLEMENT
  • Alqudah Mohammad
  • Zulfaqar Azmi
  • Takumi Odashima

Authors

  • Takamasa Horibe
  • Takayuki Murooka
control/autoware_trajectory_follower_base/README.md

Trajectory Follower

This is the design document for the trajectory_follower package.

Purpose / Use cases

This package provides the interface of longitudinal and lateral controllers used by the node of the autoware_trajectory_follower_node package. We can implement a detailed controller by deriving the longitudinal and lateral base interfaces.

Design

There are lateral and longitudinal base interface classes and each algorithm inherits from this class to implement. The interface class has the following base functions.

  • isReady(): Check if the control is ready to compute.
  • run(): Compute control commands and return to Trajectory Follower Nodes. This must be implemented by inherited algorithms.
  • sync(): Input the result of running the lateral controller. Only the longitudinal controller has this function.
    • steer angle convergence
      • allow keeping stopped until steer is converged.

See the Design of Trajectory Follower Nodes for how these functions work in the node.

Separated lateral (steering) and longitudinal (velocity) controls

This longitudinal controller assumes that the roles of lateral and longitudinal control are separated as follows.

  • Lateral control computes a target steering to keep the vehicle on the trajectory, assuming perfect velocity tracking.
  • Longitudinal control computes a target velocity/acceleration to keep the vehicle velocity on the trajectory speed, assuming perfect trajectory tracking.

Ideally, dealing with the lateral and longitudinal control as a single mixed problem can achieve high performance. In contrast, there are two reasons to provide velocity controller as a stand-alone function, described below.

Complex requirements for longitudinal motion

The longitudinal vehicle behavior that humans expect is difficult to express in a single logic. For example, the expected behavior just before stopping differs depending on whether the ego-position is ahead/behind of the stop line, or whether the current speed is higher/lower than the target speed to achieve a human-like movement.

In addition, some vehicles have difficulty measuring the ego-speed at extremely low speeds. In such cases, a configuration that can improve the functionality of the longitudinal control without affecting the lateral control is important.

There are many characteristics and needs that are unique to longitudinal control. Designing them separately from the lateral control keeps the modules less coupled and improves maintainability.

Nonlinear coupling of lateral and longitudinal motion

The lat-lon mixed control problem is very complex and uses nonlinear optimization to achieve high performance. Since it is difficult to guarantee the convergence of the nonlinear optimization, a simple control logic is also necessary for development.

Also, the benefits of simultaneous longitudinal and lateral control are small if the vehicle doesn’t move at high speed.

CHANGELOG

Changelog for package autoware_trajectory_follower_base

0.53.0 (2026-09-29)

0.52.0 (2026-06-30)

0.51.0 (2026-05-01)

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

  • feat(steer_offset_estimator): implement calibration logic (#12004)

    • refactor(steer_offset_estimator): restructure node and estimator implementation
    • Updated the CMakeLists.txt to reflect new library and executable structure.
    • Removed outdated README and added a new detailed README.md for better documentation.
    • Introduced a new node class for steer offset estimation and refactored the estimator logic.
    • Added utility functions for pose and steering calculations.
    • Implemented tests for the estimator and utility functions to ensure reliability.
    • Updated parameters in the schema and configuration files for improved clarity and functionality.

    - Removed deprecated files and images to streamline the package. This commit enhances the overall architecture and usability of the steer offset estimator package.

    • refactor(steer_offset_estimator): update CMake configuration and remove deprecated files
    • Bump CMake minimum version to 3.14 and adjust project structure in CMakeLists.txt.
    • Refactor library and executable definitions for clarity and maintainability.
    • Remove the main.cpp file as the node is now defined in a separate header and source file.
    • Update parameter comments in the configuration file for better clarity.

    - Remove the glog dependency from package.xml to streamline dependencies. This commit enhances the organization and readability of the steer offset estimator package.

    • docs(steer_offset_estimator): enhance README formatting for mathematical equations
    • Improved the formatting of mathematical equations in the README.md to enhance readability by adding line breaks.

    - Removed the monitoring section to streamline the documentation. This update aims to provide clearer guidance on the steering offset estimation algorithm and its implementation details.

    • docs(steer_offset_estimator): add debug info output section to README
    • docs(steer_offset_estimator): improve formatting of algorithm steps in README
    • feat(steer_offset_estimator): enhance estimator parameters and update calculations
    • Added new parameters: measurement_noise, denominator_floor, and covariance_floor to improve estimation stability.
    • Refactored the update logic to incorporate Kalman gain and residual calculations, enhancing the accuracy of the steering offset estimation.

    - Updated debug output to reflect new calculation metrics, including kalman_gain and residual. This commit improves the robustness and performance of the steer offset estimator by refining its parameterization and calculation methods.

    • feat(steer_offset_estimator): add new parameters for enhanced estimation
    • Introduced measurement_noise, denominator_floor, and covariance_floor parameters to the SteerOffsetEstimatorParameters structure.

    - Updated the parameter loading function to accommodate the new parameters, improving the configurability of the estimator. This change aims to enhance the performance and stability of the steering offset estimation process by allowing for more precise parameter tuning.

    • fix(steer_offset_estimator): update debug output to use standard deviation
    • Modified the debug output format in the SteerOffsetEstimatorNode to replace covariance with standard deviation for clarity.
    • This change enhances the readability of the debug information by providing a more intuitive metric for uncertainty.
    • refactor(steer_offset_estimator): rename and restructure noise parameters for clarity
    • Renamed measurement_noise to measurement_noise_covariance and added process_noise_covariance to the SteerOffsetEstimatorParameters structure for better clarity.
    • Updated the parameter loading function to reflect these changes, enhancing the configurability of the estimator.

    - Refactored the update logic to utilize the new covariance

File truncated at 100 lines see the full file

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_trajectory_follower_base at Robotics Stack Exchange

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Package symbol

autoware_trajectory_follower_base package from autoware_universe repo

autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_cuda_dependency_meta autoware_deprecated_boundary_departure_checker autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_obstacle_proximity_checker autoware_path_distance_calculator autoware_time_utils autoware_traffic_light_compliance_checker autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_command_gate autoware_control_performance_analysis autoware_control_validator autoware_external_cmd_selector autoware_joy_controller autoware_lane_departure_checker autoware_mpc_lateral_controller autoware_obstacle_collision_checker autoware_operation_mode_transition_manager autoware_pid_longitudinal_controller autoware_predicted_path_checker autoware_pure_pursuit autoware_shift_decider autoware_smart_mpc_trajectory_follower autoware_spheric_collision_detector autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_tensorrt_vad autoware_control_evaluator autoware_evaluation_adapter autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_initialization_requester autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion autoware_bytetrack autoware_camera_streampetr autoware_cluster_merger autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_ground_segmentation_cuda autoware_image_object_locator autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_frnet autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_sorter autoware_occupancy_grid_map_outlier_filter autoware_predicted_path_postprocessor autoware_probabilistic_occupancy_grid_map autoware_ptv3 autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_bevformer autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_pipeline autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_in_lane_mrm_planner autoware_manual_lane_change_handler autoware_minimum_rule_based_planner autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_trajectory_adapter autoware_trajectory_concatenator autoware_trajectory_gate autoware_trajectory_modifier autoware_trajectory_ranker autoware_trajectory_selector autoware_trajectory_validator autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_direction_change_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_roundabout_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_boundary_departure_prevention_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_calibration_status_classifier autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_carla_interface autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_dummy_traffic_light_publisher autoware_fault_injection autoware_redundancy_command_selector autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_state_monitor autoware_adapi_visualizers autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_merger autoware_diagnostic_graph_utils autoware_driving_mode_manager autoware_duplicated_node_checker autoware_generic_service_divider autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_mrm_in_lane_stop_operator autoware_mrm_reset_manager autoware_mrm_steering_hold_stop_operator autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_redundancy_adapi_switcher autoware_redundancy_switcher_interface autoware_redundancy_switcher_interface_plugins autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_traffic_light_rviz_plugin tier4_active_generator_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_manual_lane_change_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

ROS Distro
github

API Docs
Browse Code

Package Summary

Version 0.53.0
License Apache 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 2026-10-23
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Library for generating lateral and longitudinal controls following a trajectory

Maintainers

  • Maxime CLEMENT
  • Alqudah Mohammad
  • Zulfaqar Azmi
  • Takumi Odashima

Authors

  • Takamasa Horibe
  • Takayuki Murooka
control/autoware_trajectory_follower_base/README.md

Trajectory Follower

This is the design document for the trajectory_follower package.

Purpose / Use cases

This package provides the interface of longitudinal and lateral controllers used by the node of the autoware_trajectory_follower_node package. We can implement a detailed controller by deriving the longitudinal and lateral base interfaces.

Design

There are lateral and longitudinal base interface classes and each algorithm inherits from this class to implement. The interface class has the following base functions.

  • isReady(): Check if the control is ready to compute.
  • run(): Compute control commands and return to Trajectory Follower Nodes. This must be implemented by inherited algorithms.
  • sync(): Input the result of running the lateral controller. Only the longitudinal controller has this function.
    • steer angle convergence
      • allow keeping stopped until steer is converged.

See the Design of Trajectory Follower Nodes for how these functions work in the node.

Separated lateral (steering) and longitudinal (velocity) controls

This longitudinal controller assumes that the roles of lateral and longitudinal control are separated as follows.

  • Lateral control computes a target steering to keep the vehicle on the trajectory, assuming perfect velocity tracking.
  • Longitudinal control computes a target velocity/acceleration to keep the vehicle velocity on the trajectory speed, assuming perfect trajectory tracking.

Ideally, dealing with the lateral and longitudinal control as a single mixed problem can achieve high performance. In contrast, there are two reasons to provide velocity controller as a stand-alone function, described below.

Complex requirements for longitudinal motion

The longitudinal vehicle behavior that humans expect is difficult to express in a single logic. For example, the expected behavior just before stopping differs depending on whether the ego-position is ahead/behind of the stop line, or whether the current speed is higher/lower than the target speed to achieve a human-like movement.

In addition, some vehicles have difficulty measuring the ego-speed at extremely low speeds. In such cases, a configuration that can improve the functionality of the longitudinal control without affecting the lateral control is important.

There are many characteristics and needs that are unique to longitudinal control. Designing them separately from the lateral control keeps the modules less coupled and improves maintainability.

Nonlinear coupling of lateral and longitudinal motion

The lat-lon mixed control problem is very complex and uses nonlinear optimization to achieve high performance. Since it is difficult to guarantee the convergence of the nonlinear optimization, a simple control logic is also necessary for development.

Also, the benefits of simultaneous longitudinal and lateral control are small if the vehicle doesn’t move at high speed.

CHANGELOG

Changelog for package autoware_trajectory_follower_base

0.53.0 (2026-09-29)

0.52.0 (2026-06-30)

0.51.0 (2026-05-01)

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

  • feat(steer_offset_estimator): implement calibration logic (#12004)

    • refactor(steer_offset_estimator): restructure node and estimator implementation
    • Updated the CMakeLists.txt to reflect new library and executable structure.
    • Removed outdated README and added a new detailed README.md for better documentation.
    • Introduced a new node class for steer offset estimation and refactored the estimator logic.
    • Added utility functions for pose and steering calculations.
    • Implemented tests for the estimator and utility functions to ensure reliability.
    • Updated parameters in the schema and configuration files for improved clarity and functionality.

    - Removed deprecated files and images to streamline the package. This commit enhances the overall architecture and usability of the steer offset estimator package.

    • refactor(steer_offset_estimator): update CMake configuration and remove deprecated files
    • Bump CMake minimum version to 3.14 and adjust project structure in CMakeLists.txt.
    • Refactor library and executable definitions for clarity and maintainability.
    • Remove the main.cpp file as the node is now defined in a separate header and source file.
    • Update parameter comments in the configuration file for better clarity.

    - Remove the glog dependency from package.xml to streamline dependencies. This commit enhances the organization and readability of the steer offset estimator package.

    • docs(steer_offset_estimator): enhance README formatting for mathematical equations
    • Improved the formatting of mathematical equations in the README.md to enhance readability by adding line breaks.

    - Removed the monitoring section to streamline the documentation. This update aims to provide clearer guidance on the steering offset estimation algorithm and its implementation details.

    • docs(steer_offset_estimator): add debug info output section to README
    • docs(steer_offset_estimator): improve formatting of algorithm steps in README
    • feat(steer_offset_estimator): enhance estimator parameters and update calculations
    • Added new parameters: measurement_noise, denominator_floor, and covariance_floor to improve estimation stability.
    • Refactored the update logic to incorporate Kalman gain and residual calculations, enhancing the accuracy of the steering offset estimation.

    - Updated debug output to reflect new calculation metrics, including kalman_gain and residual. This commit improves the robustness and performance of the steer offset estimator by refining its parameterization and calculation methods.

    • feat(steer_offset_estimator): add new parameters for enhanced estimation
    • Introduced measurement_noise, denominator_floor, and covariance_floor parameters to the SteerOffsetEstimatorParameters structure.

    - Updated the parameter loading function to accommodate the new parameters, improving the configurability of the estimator. This change aims to enhance the performance and stability of the steering offset estimation process by allowing for more precise parameter tuning.

    • fix(steer_offset_estimator): update debug output to use standard deviation
    • Modified the debug output format in the SteerOffsetEstimatorNode to replace covariance with standard deviation for clarity.
    • This change enhances the readability of the debug information by providing a more intuitive metric for uncertainty.
    • refactor(steer_offset_estimator): rename and restructure noise parameters for clarity
    • Renamed measurement_noise to measurement_noise_covariance and added process_noise_covariance to the SteerOffsetEstimatorParameters structure for better clarity.
    • Updated the parameter loading function to reflect these changes, enhancing the configurability of the estimator.

    - Refactored the update logic to utilize the new covariance

File truncated at 100 lines see the full file

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_trajectory_follower_base at Robotics Stack Exchange

Package symbol

autoware_trajectory_follower_base package from autoware_universe repo

autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_cuda_dependency_meta autoware_deprecated_boundary_departure_checker autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_obstacle_proximity_checker autoware_path_distance_calculator autoware_time_utils autoware_traffic_light_compliance_checker autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_command_gate autoware_control_performance_analysis autoware_control_validator autoware_external_cmd_selector autoware_joy_controller autoware_lane_departure_checker autoware_mpc_lateral_controller autoware_obstacle_collision_checker autoware_operation_mode_transition_manager autoware_pid_longitudinal_controller autoware_predicted_path_checker autoware_pure_pursuit autoware_shift_decider autoware_smart_mpc_trajectory_follower autoware_spheric_collision_detector autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_tensorrt_vad autoware_control_evaluator autoware_evaluation_adapter autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_initialization_requester autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion autoware_bytetrack autoware_camera_streampetr autoware_cluster_merger autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_ground_segmentation_cuda autoware_image_object_locator autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_frnet autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_sorter autoware_occupancy_grid_map_outlier_filter autoware_predicted_path_postprocessor autoware_probabilistic_occupancy_grid_map autoware_ptv3 autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_bevformer autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_pipeline autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_in_lane_mrm_planner autoware_manual_lane_change_handler autoware_minimum_rule_based_planner autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_trajectory_adapter autoware_trajectory_concatenator autoware_trajectory_gate autoware_trajectory_modifier autoware_trajectory_ranker autoware_trajectory_selector autoware_trajectory_validator autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_direction_change_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_roundabout_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_boundary_departure_prevention_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_calibration_status_classifier autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_carla_interface autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_dummy_traffic_light_publisher autoware_fault_injection autoware_redundancy_command_selector autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_state_monitor autoware_adapi_visualizers autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_merger autoware_diagnostic_graph_utils autoware_driving_mode_manager autoware_duplicated_node_checker autoware_generic_service_divider autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_mrm_in_lane_stop_operator autoware_mrm_reset_manager autoware_mrm_steering_hold_stop_operator autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_redundancy_adapi_switcher autoware_redundancy_switcher_interface autoware_redundancy_switcher_interface_plugins autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_traffic_light_rviz_plugin tier4_active_generator_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_manual_lane_change_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

ROS Distro
github

API Docs
Browse Code

Package Summary

Version 0.53.0
License Apache 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 2026-10-23
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Library for generating lateral and longitudinal controls following a trajectory

Maintainers

  • Maxime CLEMENT
  • Alqudah Mohammad
  • Zulfaqar Azmi
  • Takumi Odashima

Authors

  • Takamasa Horibe
  • Takayuki Murooka
control/autoware_trajectory_follower_base/README.md

Trajectory Follower

This is the design document for the trajectory_follower package.

Purpose / Use cases

This package provides the interface of longitudinal and lateral controllers used by the node of the autoware_trajectory_follower_node package. We can implement a detailed controller by deriving the longitudinal and lateral base interfaces.

Design

There are lateral and longitudinal base interface classes and each algorithm inherits from this class to implement. The interface class has the following base functions.

  • isReady(): Check if the control is ready to compute.
  • run(): Compute control commands and return to Trajectory Follower Nodes. This must be implemented by inherited algorithms.
  • sync(): Input the result of running the lateral controller. Only the longitudinal controller has this function.
    • steer angle convergence
      • allow keeping stopped until steer is converged.

See the Design of Trajectory Follower Nodes for how these functions work in the node.

Separated lateral (steering) and longitudinal (velocity) controls

This longitudinal controller assumes that the roles of lateral and longitudinal control are separated as follows.

  • Lateral control computes a target steering to keep the vehicle on the trajectory, assuming perfect velocity tracking.
  • Longitudinal control computes a target velocity/acceleration to keep the vehicle velocity on the trajectory speed, assuming perfect trajectory tracking.

Ideally, dealing with the lateral and longitudinal control as a single mixed problem can achieve high performance. In contrast, there are two reasons to provide velocity controller as a stand-alone function, described below.

Complex requirements for longitudinal motion

The longitudinal vehicle behavior that humans expect is difficult to express in a single logic. For example, the expected behavior just before stopping differs depending on whether the ego-position is ahead/behind of the stop line, or whether the current speed is higher/lower than the target speed to achieve a human-like movement.

In addition, some vehicles have difficulty measuring the ego-speed at extremely low speeds. In such cases, a configuration that can improve the functionality of the longitudinal control without affecting the lateral control is important.

There are many characteristics and needs that are unique to longitudinal control. Designing them separately from the lateral control keeps the modules less coupled and improves maintainability.

Nonlinear coupling of lateral and longitudinal motion

The lat-lon mixed control problem is very complex and uses nonlinear optimization to achieve high performance. Since it is difficult to guarantee the convergence of the nonlinear optimization, a simple control logic is also necessary for development.

Also, the benefits of simultaneous longitudinal and lateral control are small if the vehicle doesn’t move at high speed.

CHANGELOG

Changelog for package autoware_trajectory_follower_base

0.53.0 (2026-09-29)

0.52.0 (2026-06-30)

0.51.0 (2026-05-01)

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

  • feat(steer_offset_estimator): implement calibration logic (#12004)

    • refactor(steer_offset_estimator): restructure node and estimator implementation
    • Updated the CMakeLists.txt to reflect new library and executable structure.
    • Removed outdated README and added a new detailed README.md for better documentation.
    • Introduced a new node class for steer offset estimation and refactored the estimator logic.
    • Added utility functions for pose and steering calculations.
    • Implemented tests for the estimator and utility functions to ensure reliability.
    • Updated parameters in the schema and configuration files for improved clarity and functionality.

    - Removed deprecated files and images to streamline the package. This commit enhances the overall architecture and usability of the steer offset estimator package.

    • refactor(steer_offset_estimator): update CMake configuration and remove deprecated files
    • Bump CMake minimum version to 3.14 and adjust project structure in CMakeLists.txt.
    • Refactor library and executable definitions for clarity and maintainability.
    • Remove the main.cpp file as the node is now defined in a separate header and source file.
    • Update parameter comments in the configuration file for better clarity.

    - Remove the glog dependency from package.xml to streamline dependencies. This commit enhances the organization and readability of the steer offset estimator package.

    • docs(steer_offset_estimator): enhance README formatting for mathematical equations
    • Improved the formatting of mathematical equations in the README.md to enhance readability by adding line breaks.

    - Removed the monitoring section to streamline the documentation. This update aims to provide clearer guidance on the steering offset estimation algorithm and its implementation details.

    • docs(steer_offset_estimator): add debug info output section to README
    • docs(steer_offset_estimator): improve formatting of algorithm steps in README
    • feat(steer_offset_estimator): enhance estimator parameters and update calculations
    • Added new parameters: measurement_noise, denominator_floor, and covariance_floor to improve estimation stability.
    • Refactored the update logic to incorporate Kalman gain and residual calculations, enhancing the accuracy of the steering offset estimation.

    - Updated debug output to reflect new calculation metrics, including kalman_gain and residual. This commit improves the robustness and performance of the steer offset estimator by refining its parameterization and calculation methods.

    • feat(steer_offset_estimator): add new parameters for enhanced estimation
    • Introduced measurement_noise, denominator_floor, and covariance_floor parameters to the SteerOffsetEstimatorParameters structure.

    - Updated the parameter loading function to accommodate the new parameters, improving the configurability of the estimator. This change aims to enhance the performance and stability of the steering offset estimation process by allowing for more precise parameter tuning.

    • fix(steer_offset_estimator): update debug output to use standard deviation
    • Modified the debug output format in the SteerOffsetEstimatorNode to replace covariance with standard deviation for clarity.
    • This change enhances the readability of the debug information by providing a more intuitive metric for uncertainty.
    • refactor(steer_offset_estimator): rename and restructure noise parameters for clarity
    • Renamed measurement_noise to measurement_noise_covariance and added process_noise_covariance to the SteerOffsetEstimatorParameters structure for better clarity.
    • Updated the parameter loading function to reflect these changes, enhancing the configurability of the estimator.

    - Refactored the update logic to utilize the new covariance

File truncated at 100 lines see the full file

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autoware_trajectory_follower_base package from autoware_universe repo

autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_cuda_dependency_meta autoware_deprecated_boundary_departure_checker autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_obstacle_proximity_checker autoware_path_distance_calculator autoware_time_utils autoware_traffic_light_compliance_checker autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_command_gate autoware_control_performance_analysis autoware_control_validator autoware_external_cmd_selector autoware_joy_controller autoware_lane_departure_checker autoware_mpc_lateral_controller autoware_obstacle_collision_checker autoware_operation_mode_transition_manager autoware_pid_longitudinal_controller autoware_predicted_path_checker autoware_pure_pursuit autoware_shift_decider autoware_smart_mpc_trajectory_follower autoware_spheric_collision_detector autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_tensorrt_vad autoware_control_evaluator autoware_evaluation_adapter autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_initialization_requester autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion autoware_bytetrack autoware_camera_streampetr autoware_cluster_merger autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_ground_segmentation_cuda autoware_image_object_locator autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_frnet autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_sorter autoware_occupancy_grid_map_outlier_filter autoware_predicted_path_postprocessor autoware_probabilistic_occupancy_grid_map autoware_ptv3 autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_bevformer autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_pipeline autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_in_lane_mrm_planner autoware_manual_lane_change_handler autoware_minimum_rule_based_planner autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_trajectory_adapter autoware_trajectory_concatenator autoware_trajectory_gate autoware_trajectory_modifier autoware_trajectory_ranker autoware_trajectory_selector autoware_trajectory_validator autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_direction_change_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_roundabout_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_boundary_departure_prevention_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_calibration_status_classifier autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_carla_interface autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_dummy_traffic_light_publisher autoware_fault_injection autoware_redundancy_command_selector autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_state_monitor autoware_adapi_visualizers autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_merger autoware_diagnostic_graph_utils autoware_driving_mode_manager autoware_duplicated_node_checker autoware_generic_service_divider autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_mrm_in_lane_stop_operator autoware_mrm_reset_manager autoware_mrm_steering_hold_stop_operator autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_redundancy_adapi_switcher autoware_redundancy_switcher_interface autoware_redundancy_switcher_interface_plugins autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_traffic_light_rviz_plugin tier4_active_generator_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_manual_lane_change_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

ROS Distro
github

API Docs
Browse Code

Package Summary

Version 0.53.0
License Apache 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 2026-10-23
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Library for generating lateral and longitudinal controls following a trajectory

Maintainers

  • Maxime CLEMENT
  • Alqudah Mohammad
  • Zulfaqar Azmi
  • Takumi Odashima

Authors

  • Takamasa Horibe
  • Takayuki Murooka
control/autoware_trajectory_follower_base/README.md

Trajectory Follower

This is the design document for the trajectory_follower package.

Purpose / Use cases

This package provides the interface of longitudinal and lateral controllers used by the node of the autoware_trajectory_follower_node package. We can implement a detailed controller by deriving the longitudinal and lateral base interfaces.

Design

There are lateral and longitudinal base interface classes and each algorithm inherits from this class to implement. The interface class has the following base functions.

  • isReady(): Check if the control is ready to compute.
  • run(): Compute control commands and return to Trajectory Follower Nodes. This must be implemented by inherited algorithms.
  • sync(): Input the result of running the lateral controller. Only the longitudinal controller has this function.
    • steer angle convergence
      • allow keeping stopped until steer is converged.

See the Design of Trajectory Follower Nodes for how these functions work in the node.

Separated lateral (steering) and longitudinal (velocity) controls

This longitudinal controller assumes that the roles of lateral and longitudinal control are separated as follows.

  • Lateral control computes a target steering to keep the vehicle on the trajectory, assuming perfect velocity tracking.
  • Longitudinal control computes a target velocity/acceleration to keep the vehicle velocity on the trajectory speed, assuming perfect trajectory tracking.

Ideally, dealing with the lateral and longitudinal control as a single mixed problem can achieve high performance. In contrast, there are two reasons to provide velocity controller as a stand-alone function, described below.

Complex requirements for longitudinal motion

The longitudinal vehicle behavior that humans expect is difficult to express in a single logic. For example, the expected behavior just before stopping differs depending on whether the ego-position is ahead/behind of the stop line, or whether the current speed is higher/lower than the target speed to achieve a human-like movement.

In addition, some vehicles have difficulty measuring the ego-speed at extremely low speeds. In such cases, a configuration that can improve the functionality of the longitudinal control without affecting the lateral control is important.

There are many characteristics and needs that are unique to longitudinal control. Designing them separately from the lateral control keeps the modules less coupled and improves maintainability.

Nonlinear coupling of lateral and longitudinal motion

The lat-lon mixed control problem is very complex and uses nonlinear optimization to achieve high performance. Since it is difficult to guarantee the convergence of the nonlinear optimization, a simple control logic is also necessary for development.

Also, the benefits of simultaneous longitudinal and lateral control are small if the vehicle doesn’t move at high speed.

CHANGELOG

Changelog for package autoware_trajectory_follower_base

0.53.0 (2026-09-29)

0.52.0 (2026-06-30)

0.51.0 (2026-05-01)

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

  • feat(steer_offset_estimator): implement calibration logic (#12004)

    • refactor(steer_offset_estimator): restructure node and estimator implementation
    • Updated the CMakeLists.txt to reflect new library and executable structure.
    • Removed outdated README and added a new detailed README.md for better documentation.
    • Introduced a new node class for steer offset estimation and refactored the estimator logic.
    • Added utility functions for pose and steering calculations.
    • Implemented tests for the estimator and utility functions to ensure reliability.
    • Updated parameters in the schema and configuration files for improved clarity and functionality.

    - Removed deprecated files and images to streamline the package. This commit enhances the overall architecture and usability of the steer offset estimator package.

    • refactor(steer_offset_estimator): update CMake configuration and remove deprecated files
    • Bump CMake minimum version to 3.14 and adjust project structure in CMakeLists.txt.
    • Refactor library and executable definitions for clarity and maintainability.
    • Remove the main.cpp file as the node is now defined in a separate header and source file.
    • Update parameter comments in the configuration file for better clarity.

    - Remove the glog dependency from package.xml to streamline dependencies. This commit enhances the organization and readability of the steer offset estimator package.

    • docs(steer_offset_estimator): enhance README formatting for mathematical equations
    • Improved the formatting of mathematical equations in the README.md to enhance readability by adding line breaks.

    - Removed the monitoring section to streamline the documentation. This update aims to provide clearer guidance on the steering offset estimation algorithm and its implementation details.

    • docs(steer_offset_estimator): add debug info output section to README
    • docs(steer_offset_estimator): improve formatting of algorithm steps in README
    • feat(steer_offset_estimator): enhance estimator parameters and update calculations
    • Added new parameters: measurement_noise, denominator_floor, and covariance_floor to improve estimation stability.
    • Refactored the update logic to incorporate Kalman gain and residual calculations, enhancing the accuracy of the steering offset estimation.

    - Updated debug output to reflect new calculation metrics, including kalman_gain and residual. This commit improves the robustness and performance of the steer offset estimator by refining its parameterization and calculation methods.

    • feat(steer_offset_estimator): add new parameters for enhanced estimation
    • Introduced measurement_noise, denominator_floor, and covariance_floor parameters to the SteerOffsetEstimatorParameters structure.

    - Updated the parameter loading function to accommodate the new parameters, improving the configurability of the estimator. This change aims to enhance the performance and stability of the steering offset estimation process by allowing for more precise parameter tuning.

    • fix(steer_offset_estimator): update debug output to use standard deviation
    • Modified the debug output format in the SteerOffsetEstimatorNode to replace covariance with standard deviation for clarity.
    • This change enhances the readability of the debug information by providing a more intuitive metric for uncertainty.
    • refactor(steer_offset_estimator): rename and restructure noise parameters for clarity
    • Renamed measurement_noise to measurement_noise_covariance and added process_noise_covariance to the SteerOffsetEstimatorParameters structure for better clarity.
    • Updated the parameter loading function to reflect these changes, enhancing the configurability of the estimator.

    - Refactored the update logic to utilize the new covariance

File truncated at 100 lines see the full file

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_trajectory_follower_base at Robotics Stack Exchange

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Package symbol

autoware_trajectory_follower_base package from autoware_universe repo

autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_cuda_dependency_meta autoware_deprecated_boundary_departure_checker autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_obstacle_proximity_checker autoware_path_distance_calculator autoware_time_utils autoware_traffic_light_compliance_checker autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_command_gate autoware_control_performance_analysis autoware_control_validator autoware_external_cmd_selector autoware_joy_controller autoware_lane_departure_checker autoware_mpc_lateral_controller autoware_obstacle_collision_checker autoware_operation_mode_transition_manager autoware_pid_longitudinal_controller autoware_predicted_path_checker autoware_pure_pursuit autoware_shift_decider autoware_smart_mpc_trajectory_follower autoware_spheric_collision_detector autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_tensorrt_vad autoware_control_evaluator autoware_evaluation_adapter autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_initialization_requester autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion autoware_bytetrack autoware_camera_streampetr autoware_cluster_merger autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_ground_segmentation_cuda autoware_image_object_locator autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_frnet autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_sorter autoware_occupancy_grid_map_outlier_filter autoware_predicted_path_postprocessor autoware_probabilistic_occupancy_grid_map autoware_ptv3 autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_bevformer autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_pipeline autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_in_lane_mrm_planner autoware_manual_lane_change_handler autoware_minimum_rule_based_planner autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_trajectory_adapter autoware_trajectory_concatenator autoware_trajectory_gate autoware_trajectory_modifier autoware_trajectory_ranker autoware_trajectory_selector autoware_trajectory_validator autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_direction_change_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_roundabout_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_boundary_departure_prevention_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_calibration_status_classifier autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_carla_interface autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_dummy_traffic_light_publisher autoware_fault_injection autoware_redundancy_command_selector autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_state_monitor autoware_adapi_visualizers autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_merger autoware_diagnostic_graph_utils autoware_driving_mode_manager autoware_duplicated_node_checker autoware_generic_service_divider autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_mrm_in_lane_stop_operator autoware_mrm_reset_manager autoware_mrm_steering_hold_stop_operator autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_redundancy_adapi_switcher autoware_redundancy_switcher_interface autoware_redundancy_switcher_interface_plugins autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_traffic_light_rviz_plugin tier4_active_generator_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_manual_lane_change_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

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Package Summary

Version 0.53.0
License Apache 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 2026-10-23
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Library for generating lateral and longitudinal controls following a trajectory

Maintainers

  • Maxime CLEMENT
  • Alqudah Mohammad
  • Zulfaqar Azmi
  • Takumi Odashima

Authors

  • Takamasa Horibe
  • Takayuki Murooka
control/autoware_trajectory_follower_base/README.md

Trajectory Follower

This is the design document for the trajectory_follower package.

Purpose / Use cases

This package provides the interface of longitudinal and lateral controllers used by the node of the autoware_trajectory_follower_node package. We can implement a detailed controller by deriving the longitudinal and lateral base interfaces.

Design

There are lateral and longitudinal base interface classes and each algorithm inherits from this class to implement. The interface class has the following base functions.

  • isReady(): Check if the control is ready to compute.
  • run(): Compute control commands and return to Trajectory Follower Nodes. This must be implemented by inherited algorithms.
  • sync(): Input the result of running the lateral controller. Only the longitudinal controller has this function.
    • steer angle convergence
      • allow keeping stopped until steer is converged.

See the Design of Trajectory Follower Nodes for how these functions work in the node.

Separated lateral (steering) and longitudinal (velocity) controls

This longitudinal controller assumes that the roles of lateral and longitudinal control are separated as follows.

  • Lateral control computes a target steering to keep the vehicle on the trajectory, assuming perfect velocity tracking.
  • Longitudinal control computes a target velocity/acceleration to keep the vehicle velocity on the trajectory speed, assuming perfect trajectory tracking.

Ideally, dealing with the lateral and longitudinal control as a single mixed problem can achieve high performance. In contrast, there are two reasons to provide velocity controller as a stand-alone function, described below.

Complex requirements for longitudinal motion

The longitudinal vehicle behavior that humans expect is difficult to express in a single logic. For example, the expected behavior just before stopping differs depending on whether the ego-position is ahead/behind of the stop line, or whether the current speed is higher/lower than the target speed to achieve a human-like movement.

In addition, some vehicles have difficulty measuring the ego-speed at extremely low speeds. In such cases, a configuration that can improve the functionality of the longitudinal control without affecting the lateral control is important.

There are many characteristics and needs that are unique to longitudinal control. Designing them separately from the lateral control keeps the modules less coupled and improves maintainability.

Nonlinear coupling of lateral and longitudinal motion

The lat-lon mixed control problem is very complex and uses nonlinear optimization to achieve high performance. Since it is difficult to guarantee the convergence of the nonlinear optimization, a simple control logic is also necessary for development.

Also, the benefits of simultaneous longitudinal and lateral control are small if the vehicle doesn’t move at high speed.

CHANGELOG

Changelog for package autoware_trajectory_follower_base

0.53.0 (2026-09-29)

0.52.0 (2026-06-30)

0.51.0 (2026-05-01)

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

  • feat(steer_offset_estimator): implement calibration logic (#12004)

    • refactor(steer_offset_estimator): restructure node and estimator implementation
    • Updated the CMakeLists.txt to reflect new library and executable structure.
    • Removed outdated README and added a new detailed README.md for better documentation.
    • Introduced a new node class for steer offset estimation and refactored the estimator logic.
    • Added utility functions for pose and steering calculations.
    • Implemented tests for the estimator and utility functions to ensure reliability.
    • Updated parameters in the schema and configuration files for improved clarity and functionality.

    - Removed deprecated files and images to streamline the package. This commit enhances the overall architecture and usability of the steer offset estimator package.

    • refactor(steer_offset_estimator): update CMake configuration and remove deprecated files
    • Bump CMake minimum version to 3.14 and adjust project structure in CMakeLists.txt.
    • Refactor library and executable definitions for clarity and maintainability.
    • Remove the main.cpp file as the node is now defined in a separate header and source file.
    • Update parameter comments in the configuration file for better clarity.

    - Remove the glog dependency from package.xml to streamline dependencies. This commit enhances the organization and readability of the steer offset estimator package.

    • docs(steer_offset_estimator): enhance README formatting for mathematical equations
    • Improved the formatting of mathematical equations in the README.md to enhance readability by adding line breaks.

    - Removed the monitoring section to streamline the documentation. This update aims to provide clearer guidance on the steering offset estimation algorithm and its implementation details.

    • docs(steer_offset_estimator): add debug info output section to README
    • docs(steer_offset_estimator): improve formatting of algorithm steps in README
    • feat(steer_offset_estimator): enhance estimator parameters and update calculations
    • Added new parameters: measurement_noise, denominator_floor, and covariance_floor to improve estimation stability.
    • Refactored the update logic to incorporate Kalman gain and residual calculations, enhancing the accuracy of the steering offset estimation.

    - Updated debug output to reflect new calculation metrics, including kalman_gain and residual. This commit improves the robustness and performance of the steer offset estimator by refining its parameterization and calculation methods.

    • feat(steer_offset_estimator): add new parameters for enhanced estimation
    • Introduced measurement_noise, denominator_floor, and covariance_floor parameters to the SteerOffsetEstimatorParameters structure.

    - Updated the parameter loading function to accommodate the new parameters, improving the configurability of the estimator. This change aims to enhance the performance and stability of the steering offset estimation process by allowing for more precise parameter tuning.

    • fix(steer_offset_estimator): update debug output to use standard deviation
    • Modified the debug output format in the SteerOffsetEstimatorNode to replace covariance with standard deviation for clarity.
    • This change enhances the readability of the debug information by providing a more intuitive metric for uncertainty.
    • refactor(steer_offset_estimator): rename and restructure noise parameters for clarity
    • Renamed measurement_noise to measurement_noise_covariance and added process_noise_covariance to the SteerOffsetEstimatorParameters structure for better clarity.
    • Updated the parameter loading function to reflect these changes, enhancing the configurability of the estimator.

    - Refactored the update logic to utilize the new covariance

File truncated at 100 lines see the full file

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_trajectory_follower_base at Robotics Stack Exchange

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Package symbol

autoware_trajectory_follower_base package from autoware_universe repo

autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_cuda_dependency_meta autoware_deprecated_boundary_departure_checker autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_obstacle_proximity_checker autoware_path_distance_calculator autoware_time_utils autoware_traffic_light_compliance_checker autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_command_gate autoware_control_performance_analysis autoware_control_validator autoware_external_cmd_selector autoware_joy_controller autoware_lane_departure_checker autoware_mpc_lateral_controller autoware_obstacle_collision_checker autoware_operation_mode_transition_manager autoware_pid_longitudinal_controller autoware_predicted_path_checker autoware_pure_pursuit autoware_shift_decider autoware_smart_mpc_trajectory_follower autoware_spheric_collision_detector autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_tensorrt_vad autoware_control_evaluator autoware_evaluation_adapter autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_initialization_requester autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion autoware_bytetrack autoware_camera_streampetr autoware_cluster_merger autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_ground_segmentation_cuda autoware_image_object_locator autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_frnet autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_sorter autoware_occupancy_grid_map_outlier_filter autoware_predicted_path_postprocessor autoware_probabilistic_occupancy_grid_map autoware_ptv3 autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_bevformer autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_pipeline autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_in_lane_mrm_planner autoware_manual_lane_change_handler autoware_minimum_rule_based_planner autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_trajectory_adapter autoware_trajectory_concatenator autoware_trajectory_gate autoware_trajectory_modifier autoware_trajectory_ranker autoware_trajectory_selector autoware_trajectory_validator autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_direction_change_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_roundabout_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_boundary_departure_prevention_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_calibration_status_classifier autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_carla_interface autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_dummy_traffic_light_publisher autoware_fault_injection autoware_redundancy_command_selector autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_state_monitor autoware_adapi_visualizers autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_merger autoware_diagnostic_graph_utils autoware_driving_mode_manager autoware_duplicated_node_checker autoware_generic_service_divider autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_mrm_in_lane_stop_operator autoware_mrm_reset_manager autoware_mrm_steering_hold_stop_operator autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_redundancy_adapi_switcher autoware_redundancy_switcher_interface autoware_redundancy_switcher_interface_plugins autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_traffic_light_rviz_plugin tier4_active_generator_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_manual_lane_change_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

ROS Distro
github

API Docs
Browse Code
Wiki

Package Summary

Version 0.53.0
License Apache 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 2026-10-23
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Library for generating lateral and longitudinal controls following a trajectory

Maintainers

  • Maxime CLEMENT
  • Alqudah Mohammad
  • Zulfaqar Azmi
  • Takumi Odashima

Authors

  • Takamasa Horibe
  • Takayuki Murooka
control/autoware_trajectory_follower_base/README.md

Trajectory Follower

This is the design document for the trajectory_follower package.

Purpose / Use cases

This package provides the interface of longitudinal and lateral controllers used by the node of the autoware_trajectory_follower_node package. We can implement a detailed controller by deriving the longitudinal and lateral base interfaces.

Design

There are lateral and longitudinal base interface classes and each algorithm inherits from this class to implement. The interface class has the following base functions.

  • isReady(): Check if the control is ready to compute.
  • run(): Compute control commands and return to Trajectory Follower Nodes. This must be implemented by inherited algorithms.
  • sync(): Input the result of running the lateral controller. Only the longitudinal controller has this function.
    • steer angle convergence
      • allow keeping stopped until steer is converged.

See the Design of Trajectory Follower Nodes for how these functions work in the node.

Separated lateral (steering) and longitudinal (velocity) controls

This longitudinal controller assumes that the roles of lateral and longitudinal control are separated as follows.

  • Lateral control computes a target steering to keep the vehicle on the trajectory, assuming perfect velocity tracking.
  • Longitudinal control computes a target velocity/acceleration to keep the vehicle velocity on the trajectory speed, assuming perfect trajectory tracking.

Ideally, dealing with the lateral and longitudinal control as a single mixed problem can achieve high performance. In contrast, there are two reasons to provide velocity controller as a stand-alone function, described below.

Complex requirements for longitudinal motion

The longitudinal vehicle behavior that humans expect is difficult to express in a single logic. For example, the expected behavior just before stopping differs depending on whether the ego-position is ahead/behind of the stop line, or whether the current speed is higher/lower than the target speed to achieve a human-like movement.

In addition, some vehicles have difficulty measuring the ego-speed at extremely low speeds. In such cases, a configuration that can improve the functionality of the longitudinal control without affecting the lateral control is important.

There are many characteristics and needs that are unique to longitudinal control. Designing them separately from the lateral control keeps the modules less coupled and improves maintainability.

Nonlinear coupling of lateral and longitudinal motion

The lat-lon mixed control problem is very complex and uses nonlinear optimization to achieve high performance. Since it is difficult to guarantee the convergence of the nonlinear optimization, a simple control logic is also necessary for development.

Also, the benefits of simultaneous longitudinal and lateral control are small if the vehicle doesn’t move at high speed.

CHANGELOG

Changelog for package autoware_trajectory_follower_base

0.53.0 (2026-09-29)

0.52.0 (2026-06-30)

0.51.0 (2026-05-01)

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

  • feat(steer_offset_estimator): implement calibration logic (#12004)

    • refactor(steer_offset_estimator): restructure node and estimator implementation
    • Updated the CMakeLists.txt to reflect new library and executable structure.
    • Removed outdated README and added a new detailed README.md for better documentation.
    • Introduced a new node class for steer offset estimation and refactored the estimator logic.
    • Added utility functions for pose and steering calculations.
    • Implemented tests for the estimator and utility functions to ensure reliability.
    • Updated parameters in the schema and configuration files for improved clarity and functionality.

    - Removed deprecated files and images to streamline the package. This commit enhances the overall architecture and usability of the steer offset estimator package.

    • refactor(steer_offset_estimator): update CMake configuration and remove deprecated files
    • Bump CMake minimum version to 3.14 and adjust project structure in CMakeLists.txt.
    • Refactor library and executable definitions for clarity and maintainability.
    • Remove the main.cpp file as the node is now defined in a separate header and source file.
    • Update parameter comments in the configuration file for better clarity.

    - Remove the glog dependency from package.xml to streamline dependencies. This commit enhances the organization and readability of the steer offset estimator package.

    • docs(steer_offset_estimator): enhance README formatting for mathematical equations
    • Improved the formatting of mathematical equations in the README.md to enhance readability by adding line breaks.

    - Removed the monitoring section to streamline the documentation. This update aims to provide clearer guidance on the steering offset estimation algorithm and its implementation details.

    • docs(steer_offset_estimator): add debug info output section to README
    • docs(steer_offset_estimator): improve formatting of algorithm steps in README
    • feat(steer_offset_estimator): enhance estimator parameters and update calculations
    • Added new parameters: measurement_noise, denominator_floor, and covariance_floor to improve estimation stability.
    • Refactored the update logic to incorporate Kalman gain and residual calculations, enhancing the accuracy of the steering offset estimation.

    - Updated debug output to reflect new calculation metrics, including kalman_gain and residual. This commit improves the robustness and performance of the steer offset estimator by refining its parameterization and calculation methods.

    • feat(steer_offset_estimator): add new parameters for enhanced estimation
    • Introduced measurement_noise, denominator_floor, and covariance_floor parameters to the SteerOffsetEstimatorParameters structure.

    - Updated the parameter loading function to accommodate the new parameters, improving the configurability of the estimator. This change aims to enhance the performance and stability of the steering offset estimation process by allowing for more precise parameter tuning.

    • fix(steer_offset_estimator): update debug output to use standard deviation
    • Modified the debug output format in the SteerOffsetEstimatorNode to replace covariance with standard deviation for clarity.
    • This change enhances the readability of the debug information by providing a more intuitive metric for uncertainty.
    • refactor(steer_offset_estimator): rename and restructure noise parameters for clarity
    • Renamed measurement_noise to measurement_noise_covariance and added process_noise_covariance to the SteerOffsetEstimatorParameters structure for better clarity.
    • Updated the parameter loading function to reflect these changes, enhancing the configurability of the estimator.

    - Refactored the update logic to utilize the new covariance

File truncated at 100 lines see the full file

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_trajectory_follower_base at Robotics Stack Exchange

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autoware_trajectory_follower_base package from autoware_universe repo

autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_cuda_dependency_meta autoware_deprecated_boundary_departure_checker autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_obstacle_proximity_checker autoware_path_distance_calculator autoware_time_utils autoware_traffic_light_compliance_checker autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_command_gate autoware_control_performance_analysis autoware_control_validator autoware_external_cmd_selector autoware_joy_controller autoware_lane_departure_checker autoware_mpc_lateral_controller autoware_obstacle_collision_checker autoware_operation_mode_transition_manager autoware_pid_longitudinal_controller autoware_predicted_path_checker autoware_pure_pursuit autoware_shift_decider autoware_smart_mpc_trajectory_follower autoware_spheric_collision_detector autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_tensorrt_vad autoware_control_evaluator autoware_evaluation_adapter autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_initialization_requester autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion autoware_bytetrack autoware_camera_streampetr autoware_cluster_merger autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_ground_segmentation_cuda autoware_image_object_locator autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_frnet autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_sorter autoware_occupancy_grid_map_outlier_filter autoware_predicted_path_postprocessor autoware_probabilistic_occupancy_grid_map autoware_ptv3 autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_bevformer autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_pipeline autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_in_lane_mrm_planner autoware_manual_lane_change_handler autoware_minimum_rule_based_planner autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_trajectory_adapter autoware_trajectory_concatenator autoware_trajectory_gate autoware_trajectory_modifier autoware_trajectory_ranker autoware_trajectory_selector autoware_trajectory_validator autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_direction_change_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_roundabout_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_boundary_departure_prevention_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_calibration_status_classifier autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_carla_interface autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_dummy_traffic_light_publisher autoware_fault_injection autoware_redundancy_command_selector autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_state_monitor autoware_adapi_visualizers autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_merger autoware_diagnostic_graph_utils autoware_driving_mode_manager autoware_duplicated_node_checker autoware_generic_service_divider autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_mrm_in_lane_stop_operator autoware_mrm_reset_manager autoware_mrm_steering_hold_stop_operator autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_redundancy_adapi_switcher autoware_redundancy_switcher_interface autoware_redundancy_switcher_interface_plugins autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_traffic_light_rviz_plugin tier4_active_generator_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_manual_lane_change_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

ROS Distro
github

API Docs
Browse Code
Wiki

Package Summary

Version 0.53.0
License Apache 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 2026-10-23
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Library for generating lateral and longitudinal controls following a trajectory

Maintainers

  • Maxime CLEMENT
  • Alqudah Mohammad
  • Zulfaqar Azmi
  • Takumi Odashima

Authors

  • Takamasa Horibe
  • Takayuki Murooka
control/autoware_trajectory_follower_base/README.md

Trajectory Follower

This is the design document for the trajectory_follower package.

Purpose / Use cases

This package provides the interface of longitudinal and lateral controllers used by the node of the autoware_trajectory_follower_node package. We can implement a detailed controller by deriving the longitudinal and lateral base interfaces.

Design

There are lateral and longitudinal base interface classes and each algorithm inherits from this class to implement. The interface class has the following base functions.

  • isReady(): Check if the control is ready to compute.
  • run(): Compute control commands and return to Trajectory Follower Nodes. This must be implemented by inherited algorithms.
  • sync(): Input the result of running the lateral controller. Only the longitudinal controller has this function.
    • steer angle convergence
      • allow keeping stopped until steer is converged.

See the Design of Trajectory Follower Nodes for how these functions work in the node.

Separated lateral (steering) and longitudinal (velocity) controls

This longitudinal controller assumes that the roles of lateral and longitudinal control are separated as follows.

  • Lateral control computes a target steering to keep the vehicle on the trajectory, assuming perfect velocity tracking.
  • Longitudinal control computes a target velocity/acceleration to keep the vehicle velocity on the trajectory speed, assuming perfect trajectory tracking.

Ideally, dealing with the lateral and longitudinal control as a single mixed problem can achieve high performance. In contrast, there are two reasons to provide velocity controller as a stand-alone function, described below.

Complex requirements for longitudinal motion

The longitudinal vehicle behavior that humans expect is difficult to express in a single logic. For example, the expected behavior just before stopping differs depending on whether the ego-position is ahead/behind of the stop line, or whether the current speed is higher/lower than the target speed to achieve a human-like movement.

In addition, some vehicles have difficulty measuring the ego-speed at extremely low speeds. In such cases, a configuration that can improve the functionality of the longitudinal control without affecting the lateral control is important.

There are many characteristics and needs that are unique to longitudinal control. Designing them separately from the lateral control keeps the modules less coupled and improves maintainability.

Nonlinear coupling of lateral and longitudinal motion

The lat-lon mixed control problem is very complex and uses nonlinear optimization to achieve high performance. Since it is difficult to guarantee the convergence of the nonlinear optimization, a simple control logic is also necessary for development.

Also, the benefits of simultaneous longitudinal and lateral control are small if the vehicle doesn’t move at high speed.

CHANGELOG

Changelog for package autoware_trajectory_follower_base

0.53.0 (2026-09-29)

0.52.0 (2026-06-30)

0.51.0 (2026-05-01)

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

  • feat(steer_offset_estimator): implement calibration logic (#12004)

    • refactor(steer_offset_estimator): restructure node and estimator implementation
    • Updated the CMakeLists.txt to reflect new library and executable structure.
    • Removed outdated README and added a new detailed README.md for better documentation.
    • Introduced a new node class for steer offset estimation and refactored the estimator logic.
    • Added utility functions for pose and steering calculations.
    • Implemented tests for the estimator and utility functions to ensure reliability.
    • Updated parameters in the schema and configuration files for improved clarity and functionality.

    - Removed deprecated files and images to streamline the package. This commit enhances the overall architecture and usability of the steer offset estimator package.

    • refactor(steer_offset_estimator): update CMake configuration and remove deprecated files
    • Bump CMake minimum version to 3.14 and adjust project structure in CMakeLists.txt.
    • Refactor library and executable definitions for clarity and maintainability.
    • Remove the main.cpp file as the node is now defined in a separate header and source file.
    • Update parameter comments in the configuration file for better clarity.

    - Remove the glog dependency from package.xml to streamline dependencies. This commit enhances the organization and readability of the steer offset estimator package.

    • docs(steer_offset_estimator): enhance README formatting for mathematical equations
    • Improved the formatting of mathematical equations in the README.md to enhance readability by adding line breaks.

    - Removed the monitoring section to streamline the documentation. This update aims to provide clearer guidance on the steering offset estimation algorithm and its implementation details.

    • docs(steer_offset_estimator): add debug info output section to README
    • docs(steer_offset_estimator): improve formatting of algorithm steps in README
    • feat(steer_offset_estimator): enhance estimator parameters and update calculations
    • Added new parameters: measurement_noise, denominator_floor, and covariance_floor to improve estimation stability.
    • Refactored the update logic to incorporate Kalman gain and residual calculations, enhancing the accuracy of the steering offset estimation.

    - Updated debug output to reflect new calculation metrics, including kalman_gain and residual. This commit improves the robustness and performance of the steer offset estimator by refining its parameterization and calculation methods.

    • feat(steer_offset_estimator): add new parameters for enhanced estimation
    • Introduced measurement_noise, denominator_floor, and covariance_floor parameters to the SteerOffsetEstimatorParameters structure.

    - Updated the parameter loading function to accommodate the new parameters, improving the configurability of the estimator. This change aims to enhance the performance and stability of the steering offset estimation process by allowing for more precise parameter tuning.

    • fix(steer_offset_estimator): update debug output to use standard deviation
    • Modified the debug output format in the SteerOffsetEstimatorNode to replace covariance with standard deviation for clarity.
    • This change enhances the readability of the debug information by providing a more intuitive metric for uncertainty.
    • refactor(steer_offset_estimator): rename and restructure noise parameters for clarity
    • Renamed measurement_noise to measurement_noise_covariance and added process_noise_covariance to the SteerOffsetEstimatorParameters structure for better clarity.
    • Updated the parameter loading function to reflect these changes, enhancing the configurability of the estimator.

    - Refactored the update logic to utilize the new covariance

File truncated at 100 lines see the full file

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_trajectory_follower_base at Robotics Stack Exchange