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

autoware_trajectory_traffic_rule_filter package from autoware_universe repo

autoware_agnocast_wrapper autoware_auto_common autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_component_interface_tools autoware_component_interface_utils autoware_cuda_dependency_meta autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_path_distance_calculator autoware_polar_grid autoware_time_utils 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_pose2twist autoware_pose_covariance_modifier autoware_pose_estimator_arbiter 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_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_manual_lane_change_handler 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_modifier autoware_trajectory_optimizer autoware_trajectory_ranker autoware_trajectory_safety_filter autoware_trajectory_traffic_rule_filter autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_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_diagnostics 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_livox_tag_filter autoware_carla_interface autoware_dummy_perception_publisher autoware_fault_injection autoware_learning_based_vehicle_model autoware_simple_planning_simulator autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_bluetooth_monitor autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_monitor autoware_component_state_monitor autoware_adapi_visualizers autoware_automatic_pose_initializer autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_utils autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_duplicated_node_checker autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_pipeline_latency_monitor autoware_processing_time_checker 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_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_datetime_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	0.50.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/autowarefoundation/autoware_universe.git
VCS Type	git
VCS Version	main
Last Updated	2026-03-06
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The autoware_trajectory_traffic_rule_filter package

Maintainers

Daniel Sanchez
Yukihiro Saito
Go Sakayori
Shintaro Sakoda
Zulfaqar Azmi
Alqudah Mohammad

Authors

Go Sakayori

planning/autoware_trajectory_traffic_rule_filter/README.md

Autoware Trajectory Traffic Rule Filter

Purpose

The autoware_trajectory_traffic_rule_filter package provides a plugin-based filtering system for candidate trajectories based on traffic rules. It evaluates trajectories against various traffic regulations and safety constraints to ensure compliance with traffic laws.

Inner-workings / Algorithms

Architecture

The package uses a plugin architecture that allows for flexible and extensible traffic rule checking:

Main Node: TrajectoryTrafficRuleFilter - Manages plugins and coordinates filtering
Plugin Interface: TrafficRuleFilterInterface - Base class for all filter plugins
Filter Plugins: Individual filters that implement specific traffic rule checks

Filter Plugins

TrafficLightFilter

Validates trajectory compliance with traffic signals.
Monitors traffic light states from the perception system.
Limitation: Currently, only circle light signals (RED, AMBER) are handled; arrow signals are ignored by this filter.
Reject trajectories when:
- the vehicle’s footprint (front-end extension) crosses a red traffic light stop line.
- the vehicle’s footprint crosses an amber traffic light stop line and it is determined that either:
  1. ego can safely stop at the stop line without breaking the deceleration/jerk limits, considering a delay_response_time.
  2. ego’s base_link point cannot cross the stop line within the crossing_time_limit.

Interface

Topics

Direction	Topic Name	Type	Description
Input	`~/input/candidate_trajectories`	`autoware_internal_planning_msgs::msg::CandidateTrajectories`	Candidate trajectories to be filtered
Input	`~/input/lanelet2_map`	`autoware_map_msgs::msg::LaneletMapBin`	Lanelet2 map containing traffic rule info
Input	`~/input/traffic_signals`	`autoware_perception_msgs::msg::TrafficLightGroupArray`	Current traffic light states
Output	`~/output/candidate_trajectories`	`autoware_internal_planning_msgs::msg::CandidateTrajectories`	Filtered trajectories that comply with traffic rules
Output	`/diagnostics`	`diagnostic_msgs::msg::DiagnosticArray`	Diagnostic status of the filtering process

Diagnostics

The node publishes diagnostic information to monitor the status of the trajectory filtering process.

Level	Message	Condition
`OK`	””	At least one trajectory is feasible, including at least one from a diffusion-based planner if present.
`WARN`	“All diffusion planner trajectories are infeasible”	Feasible trajectories exist, but all trajectories from generators named “Diffusion*” were filtered out.
`ERROR`	“No feasible trajectories found”	All input candidate trajectories were filtered out by the active plugins.

Parameters

Name	Type	Description	Default Value
`filter_names`	string array	List of filter plugins to load	See config file

Plugin Configuration

The active filters are specified in config/trajectory_traffic_rule_filter.param.yaml:

/**:
  ros__parameters:
    filter_names:
      - "autoware::trajectory_traffic_rule_filter::plugin::TrafficLightFilter"

Traffic Light Filter parameters

Name	Type	Description	Default Value
`traffic_light_filter.deceleration_limit`	double	Trajectories crossing an amber light are rejected if ego can stop at the stop line without breaking this limit	2.8
`traffic_light_filter.jerk_limit`	double	Trajectories crossing an amber light are rejected if ego can stop at the stop line without breaking this limit	5.0
`traffic_light_filter.delay_response_time`	double	Delay response time (reaction time) used to estimate the minimum ego stopping distance from its current state	0.5
`traffic_light_filter.crossing_time_limit`	double	Trajectories crossing an amber light are rejected if they cannot cross (reach the stop line with `base_link`) before this time	2.75
`traffic_light_filter.treat_amber_light_as_red_light`	bool	When true, amber lights are handled like red lights (using vehicle footprint crossing). If false, amber lights use the `base_link` crossing logic described above.	true

CHANGELOG

Changelog for package autoware_trajectory_traffic_rule_filter

0.50.0 (2026-02-14)

Merge remote-tracking branch 'origin/main' into humble
chore(trajectory_ranker,trajectory_traffic_rule_filter): add maintainers (#12020) chore(trajectory_ranker,traffic_rule_filter): add maintainers
fix(traffic_rule_filter): improve traffic light filter (#11983)
Contributors: Maxime CLEMENT, Ryohsuke Mitsudome

0.49.0 (2025-12-30)

Merge remote-tracking branch 'origin/main' into prepare-0.49.0-changelog
feat(autoware_lanelet2_utils): replace from/toBinMsg (Planning and Control Component) (#11784)
- planning component toBinMsg replacement
- control component fromBinMsg replacement
* planning component fromBinMsg replacement ---------
Contributors: Ryohsuke Mitsudome, Sarun MUKDAPITAK

0.48.0 (2025-11-18)

Merge remote-tracking branch 'origin/main' into humble
feat: add traffic rule validation for generator-selector framework (#11426)
- bring packages from new planning framework
- use filter as plugin
- fix namespace in CMAKE
- update README
- small fix for README
- fix publisher and subscriber
- remove stop line filter
- change subscriber/publisher deafult value
- use boundary checker to get lanelets
- initialize boundary checker
- refactor feasible check
* fix package.xml ---------
Contributors: Go Sakayori, Ryohsuke Mitsudome

Package Dependencies

Deps	Name
	ament_cmake
	autoware_cmake
	ament_cmake_ros
	ament_lint_auto
	autoware_lint_common
	autoware_internal_planning_msgs
	autoware_interpolation
	autoware_lanelet2_extension
	autoware_lanelet2_utils
	autoware_motion_utils
	autoware_perception_msgs
	autoware_planning_msgs
	autoware_test_utils
	autoware_traffic_light_utils
	autoware_utils_debug
	autoware_utils_diagnostics
	autoware_utils_rclcpp
	autoware_utils_uuid
	autoware_vehicle_info_utils
	generate_parameter_library
	lanelet2_core
	pluginlib
	rclcpp
	rclcpp_components
	tl_expected

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

launch/trajectory_traffic_rule_filter.launch.xml
- - filter_param_path [default: $(find-pkg-share autoware_trajectory_traffic_rule_filter)/config/trajectory_traffic_rule_filter.param.yaml]
  - input_trajectories [default: ~/input/trajectories]
  - output_trajectories [default: ~/output/trajectories]
  - input_map [default: /map/vector_map]
  - input_traffic_signals [default: /perception/traffic_light_recognition/traffic_signals]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_trajectory_traffic_rule_filter` at Robotics Stack Exchange

API Docs Browse Code

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