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planning-perception.drawio
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planning-perception.drawio
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<UserObject label="<b>obstacle_velocity_limiter</b>" tooltip="自車が停止しているときに、周囲の障害物を確認し、近くに障害物がいる場合は車両を発進させない。" link="https://github.com/autowarefoundation/autoware.universe/tree/main/planning/obstacle_velocity_limiter" id="4suoUMRTrvzGgrqBwI7V-18">
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目標経路上に障害物点がある場合は停止、経路近くに障害物点群がある場合は減速、前方に車両が居る場合は前車追従。" link="https://github.com/autowarefoundation/autoware.universe/tree/main/planning/obstacle_stop_planner" id="4suoUMRTrvzGgrqBwI7V-22">
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<UserObject label="<b>side_shift</b>" tooltip="遠隔からの司令をもとに幅寄せを行います。" id="4suoUMRTrvzGgrqBwI7V-32">
<mxCell style="rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;" vertex="1" parent="1">
<mxGeometry x="-490" y="-361" width="120" height="30" as="geometry" />
</mxCell>
</UserObject>
<UserObject label="<b>pull_over/out</b>" tooltip="ルート情報をもとに路肩への幅寄せ、路肩からの発進を行います。" id="4suoUMRTrvzGgrqBwI7V-33">
<mxCell style="rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;" vertex="1" parent="1">
<mxGeometry x="-490" y="-401" width="120" height="30" as="geometry" />
</mxCell>
</UserObject>
<UserObject label="<b>obstacle_avoidance</b>" tooltip="ルート情報や障害物情報をもとに、障害物回避を実行します。" id="4suoUMRTrvzGgrqBwI7V-34">
<mxCell style="rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;" vertex="1" parent="1">
<mxGeometry x="-490" y="-441" width="120" height="30" as="geometry" />
</mxCell>
</UserObject>
<UserObject label="<b>lane_change</b>" tooltip="ルート情報や障害物情報をもとに、レーンチェンジを実行します。" id="4suoUMRTrvzGgrqBwI7V-35">
<mxCell style="rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;" vertex="1" parent="1">
<mxGeometry x="-490" y="-483" width="120" height="30" as="geometry" />
</mxCell>
</UserObject>
<UserObject label="<b>lane_following</b>" tooltip="ルート情報をもとに走行経路を作成します。" id="4suoUMRTrvzGgrqBwI7V-36">
<mxCell style="rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;" vertex="1" parent="1">
<mxGeometry x="-490" y="-521" width="120" height="30" as="geometry" />
</mxCell>
</UserObject>
<mxCell id="4suoUMRTrvzGgrqBwI7V-37" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;" edge="1" parent="1" source="4suoUMRTrvzGgrqBwI7V-38">
<mxGeometry relative="1" as="geometry">
<mxPoint x="-386" y="940" as="targetPoint" />
</mxGeometry>
</mxCell>
<UserObject label="<b>planning_validator</b>" tooltip="Check the trajectory and stop publishing it if it is unsafe." link="https://github.com/autowarefoundation/autoware.universe/tree/main/planning/planning_validator" id="4suoUMRTrvzGgrqBwI7V-38">
<mxCell style="rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;" vertex="1" parent="1">
<mxGeometry x="-445.5" y="777" width="120" height="33" as="geometry" />
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</UserObject>
<mxCell id="4suoUMRTrvzGgrqBwI7V-39" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.5;entryY=0;entryDx=0;entryDy=0;" edge="1" parent="1" source="4suoUMRTrvzGgrqBwI7V-41" target="4suoUMRTrvzGgrqBwI7V-16">
<mxGeometry relative="1" as="geometry" />
</mxCell>
<mxCell id="4suoUMRTrvzGgrqBwI7V-40" value="path_smoother/path" style="edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];" vertex="1" connectable="0" parent="4suoUMRTrvzGgrqBwI7V-39">
<mxGeometry x="-0.3175" y="2" relative="1" as="geometry">
<mxPoint as="offset" />
</mxGeometry>
</mxCell>
<UserObject label="<b>path_smoother</b>" tooltip="車両形状や走行可能領域を考慮して、経路の平滑化を行う。障害物も避けるが、long historyで最近は回避機能はoffになっています。" link="https://autowarefoundation.github.io/autoware.universe/main/planning/path_smoother/" id="4suoUMRTrvzGgrqBwI7V-41">
<mxCell style="rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;" vertex="1" parent="1">
<mxGeometry x="-490" y="161" width="120" height="40" as="geometry" />
</mxCell>
</UserObject>
<mxCell id="4suoUMRTrvzGgrqBwI7V-42" value="" style="group" vertex="1" connectable="0" parent="1">
<mxGeometry x="-424" y="-204" width="110" height="25" as="geometry" />
</mxCell>
<UserObject label="<b>no_stopping_area</b>" tooltip="停止禁止区域内で停止しないように、区域手前での進行・停止判断を行います。" id="4suoUMRTrvzGgrqBwI7V-43">
<mxCell style="rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;" vertex="1" parent="4suoUMRTrvzGgrqBwI7V-42">
<mxGeometry y="93" width="110" height="25" as="geometry" />
</mxCell>
</UserObject>
<UserObject label="<b>intersection</b>" tooltip="地図情報および動物体情報から、交差点での停止/発進の判定を行います。" id="4suoUMRTrvzGgrqBwI7V-44">
<mxCell style="rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;" vertex="1" parent="4suoUMRTrvzGgrqBwI7V-42">
<mxGeometry y="62" width="110" height="25" as="geometry" />
</mxCell>
</UserObject>
<UserObject label="<b>traffic_light</b>" tooltip="信号の色に応じて停止/発進の指示をします" id="4suoUMRTrvzGgrqBwI7V-45">
<mxCell style="rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;" vertex="1" parent="4suoUMRTrvzGgrqBwI7V-42">
<mxGeometry y="31" width="110" height="25" as="geometry" />
</mxCell>
</UserObject>
<UserObject label="<b>blind_spot</b>" tooltip="右左折時に車両後方の巻き込み確認を行い、衝突の危険がある場合は停止します。" id="4suoUMRTrvzGgrqBwI7V-46">
<mxCell style="rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;" vertex="1" parent="4suoUMRTrvzGgrqBwI7V-42">
<mxGeometry width="110" height="25" as="geometry" />
</mxCell>
</UserObject>
<UserObject label="<b>no_drivable_lane</b>" tooltip="規定された停止線で一時停止を行います" id="4suoUMRTrvzGgrqBwI7V-47">
<mxCell style="rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;" vertex="1" parent="4suoUMRTrvzGgrqBwI7V-42">
<mxGeometry y="155" width="110" height="25" as="geometry" />
</mxCell>
</UserObject>
<UserObject label="<b>run_out</b>" tooltip="規定された停止線で一時停止を行います" id="4suoUMRTrvzGgrqBwI7V-48">
<mxCell style="rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;" vertex="1" parent="4suoUMRTrvzGgrqBwI7V-42">
<mxGeometry y="124" width="110" height="25" as="geometry" />
</mxCell>
</UserObject>
<UserObject label="<b>merge_from_private</b>" tooltip="規定された停止線で一時停止を行います" id="4suoUMRTrvzGgrqBwI7V-49">
<mxCell style="rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;" vertex="1" parent="4suoUMRTrvzGgrqBwI7V-42">
<mxGeometry y="186.46341463414635" width="110" height="25" as="geometry" />
</mxCell>
</UserObject>
<UserObject label="<b>occlusion_spot</b>" tooltip="地図情報および動物体情報から、死角手前での減速を行います。" id="4suoUMRTrvzGgrqBwI7V-50">
<mxCell style="rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;flipV=0;flipH=1;" vertex="1" parent="1">
<mxGeometry x="-543" y="-110" width="110" height="25" as="geometry" />
</mxCell>
</UserObject>
<UserObject label="<b>cross_walk</b>" tooltip="横断歩道に人が居る、もしくは侵入しようとしてきている場合に、横断歩道手前で停止します。近くに人が居る場合は徐行します。" id="4suoUMRTrvzGgrqBwI7V-51">
<mxCell style="rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;flipV=0;flipH=1;" vertex="1" parent="1">
<mxGeometry x="-543" y="-171" width="110" height="25" as="geometry" />
</mxCell>
</UserObject>
<UserObject label="<b>detection_area</b>" tooltip="規定エリア内の障害物点群がある場合に、対応する位置で停止します" id="4suoUMRTrvzGgrqBwI7V-52">
<mxCell style="rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;flipV=0;flipH=1;" vertex="1" parent="1">
<mxGeometry x="-543" y="-202" width="110" height="25" as="geometry" />
</mxCell>
</UserObject>
<UserObject label="<b>stop_line</b>" tooltip="規定された停止線で一時停止を行います" id="4suoUMRTrvzGgrqBwI7V-53">
<mxCell style="rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;flipV=0;flipH=1;" vertex="1" parent="1">
<mxGeometry x="-543" y="-79" width="110" height="25" as="geometry" />
</mxCell>
</UserObject>
<UserObject label="<b>virtual_traffic_light</b>" tooltip="信号の色に応じて停止/発進の指示をします" id="4suoUMRTrvzGgrqBwI7V-54">
<mxCell style="rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;flipV=0;flipH=1;" vertex="1" parent="1">
<mxGeometry x="-543" y="-141" width="110" height="25" as="geometry" />
</mxCell>
</UserObject>
<UserObject label="<b>speed_bump</b>" tooltip="規定された停止線で一時停止を行います" id="4suoUMRTrvzGgrqBwI7V-55">
<mxCell style="rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;flipV=0;flipH=1;arcSize=50;" vertex="1" parent="1">
<mxGeometry x="-543" y="-48" width="110" height="25" as="geometry" />
</mxCell>
</UserObject>
<UserObject label="<div><b>walkway</b></div>" tooltip="規定された停止線で一時停止を行います" id="4suoUMRTrvzGgrqBwI7V-56">
<mxCell style="rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;flipV=0;flipH=1;" vertex="1" parent="1">
<mxGeometry x="-543" y="13.064777327935218" width="110" height="25" as="geometry" />
</mxCell>
</UserObject>
<UserObject label="<div><b>out_of_lane</b></div>" tooltip="規定された停止線で一時停止を行います" id="4suoUMRTrvzGgrqBwI7V-57">
<mxCell style="rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;flipV=0;flipH=1;" vertex="1" parent="1">
<mxGeometry x="-543" y="-18" width="110" height="25" as="geometry" />
</mxCell>
</UserObject>
<mxCell id="4suoUMRTrvzGgrqBwI7V-58" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;exitX=0;exitY=0.5;exitDx=0;exitDy=0;" edge="1" parent="1" source="4suoUMRTrvzGgrqBwI7V-59" target="4suoUMRTrvzGgrqBwI7V-26">
<mxGeometry relative="1" as="geometry">
<Array as="points">
<mxPoint x="-385" y="670" />
</Array>
</mxGeometry>
</mxCell>
<UserObject label="<b>external_velocity_<br>limit_selector</b>" tooltip="apiとautoware.iv内部から送られてくる制約付き減速指示を受け取り、整合性をとる" link="https://github.com/autowarefoundation/autoware.universe/tree/main/planning/external_velocity_limit_selector" id="4suoUMRTrvzGgrqBwI7V-59">
<mxCell style="rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;" vertex="1" parent="1">
<mxGeometry x="-137" y="650" width="120" height="40" as="geometry" />
</mxCell>
</UserObject>
<UserObject label="<b>surround_obstacle_checker</b>" tooltip="自車が停止しているときに、周囲の障害物を確認し、近くに障害物がいる場合は車両を発進させない。" link="https://github.com/autowarefoundation/autoware.universe/tree/main/planning/surround_obstacle_checker" id="4suoUMRTrvzGgrqBwI7V-60">
<mxCell style="rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;" vertex="1" parent="1">
<mxGeometry x="-157" y="381" width="160" height="40" as="geometry" />
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</UserObject>
<mxCell id="4suoUMRTrvzGgrqBwI7V-61" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.5;entryY=0;entryDx=0;entryDy=0;" edge="1" parent="1" source="4suoUMRTrvzGgrqBwI7V-60" target="4suoUMRTrvzGgrqBwI7V-59">
<mxGeometry relative="1" as="geometry" />
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<mxCell id="4suoUMRTrvzGgrqBwI7V-62" value="/planning/scenario_planning/max_velocity_candidates<br style="border-color: var(--border-color);">[tier4_planning_msgs/msg/VelocityLimit]" style="edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];" vertex="1" connectable="0" parent="4suoUMRTrvzGgrqBwI7V-61">
<mxGeometry x="-0.0389" y="3" relative="1" as="geometry">
<mxPoint x="14" y="50" as="offset" />
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</mxCell>
<mxCell id="4suoUMRTrvzGgrqBwI7V-63" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;entryX=0.25;entryY=0;entryDx=0;entryDy=0;" edge="1" parent="1" source="4suoUMRTrvzGgrqBwI7V-65" target="4suoUMRTrvzGgrqBwI7V-24">
<mxGeometry relative="1" as="geometry" />
</mxCell>
<mxCell id="4suoUMRTrvzGgrqBwI7V-64" value="avp_planning/trajectory [Trajectory]" style="edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];" vertex="1" connectable="0" parent="4suoUMRTrvzGgrqBwI7V-63">
<mxGeometry x="-0.0492" y="-1" relative="1" as="geometry">
<mxPoint x="1" y="1" as="offset" />
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</mxCell>
<UserObject label="<b>avp_planner</b>" tooltip="障害物停止・前車追従・近傍障害物減速の複数の機能を持ち、機能に応じて経路上に速度を埋め込む。
目標経路上に障害物点がある場合は停止、経路近くに障害物点群がある場合は減速、前方に車両が居る場合は前車追従。" link="https://github.com/autowarefoundation/autoware.universe/tree/main/planning/obstacle_stop_planner" id="4suoUMRTrvzGgrqBwI7V-65">
<mxCell style="rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;" vertex="1" parent="1">
<mxGeometry x="-490" y="520" width="120" height="40" as="geometry" />
</mxCell>
</UserObject>
<object label="<b>Valeo_ultrasonics_driver</b>" desc="MGRS座標系への変換" tooltip="gnssのdriverです" id="4suoUMRTrvzGgrqBwI7V-66">
<mxCell style="rounded=1;whiteSpace=wrap;html=1;comic=0;strokeColor=#9673a6;fillColor=#e1d5e7;sketch=0;" vertex="1" parent="1">
<mxGeometry x="74" y="-588" width="160" height="40" as="geometry" />
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</object>
<mxCell id="4suoUMRTrvzGgrqBwI7V-67" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;exitX=0.25;exitY=1;exitDx=0;exitDy=0;" edge="1" parent="1" source="4suoUMRTrvzGgrqBwI7V-72" target="4suoUMRTrvzGgrqBwI7V-85">
<mxGeometry relative="1" as="geometry">
<Array as="points">
<mxPoint x="340" y="-330" />
<mxPoint x="160" y="-330" />
</Array>
</mxGeometry>
</mxCell>
<mxCell id="4suoUMRTrvzGgrqBwI7V-68" value="/perception/obstacle_segmentation/pointcloud" style="edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];" vertex="1" connectable="0" parent="4suoUMRTrvzGgrqBwI7V-67">
<mxGeometry x="0.1566" y="-3" relative="1" as="geometry">
<mxPoint x="18" y="-17" as="offset" />
</mxGeometry>
</mxCell>
<mxCell id="4suoUMRTrvzGgrqBwI7V-69" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;exitX=0.25;exitY=1;exitDx=0;exitDy=0;entryX=1;entryY=0.5;entryDx=0;entryDy=0;" edge="1" parent="1" source="4suoUMRTrvzGgrqBwI7V-72" target="4suoUMRTrvzGgrqBwI7V-22">
<mxGeometry relative="1" as="geometry">
<Array as="points">
<mxPoint x="340" y="-360" />
<mxPoint x="10" y="-360" />
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</mxGeometry>
</mxCell>
<mxCell id="4suoUMRTrvzGgrqBwI7V-70" value="/perception/obstacle_segmentation/pointcloud" style="edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];rotation=-90;" vertex="1" connectable="0" parent="4suoUMRTrvzGgrqBwI7V-69">
<mxGeometry x="-0.3619" y="1" relative="1" as="geometry">
<mxPoint x="-11" y="295" as="offset" />
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</mxCell>
<mxCell id="4suoUMRTrvzGgrqBwI7V-71" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;exitX=0.25;exitY=1;exitDx=0;exitDy=0;entryX=0.5;entryY=1;entryDx=0;entryDy=0;" edge="1" parent="1" source="4suoUMRTrvzGgrqBwI7V-72" target="4suoUMRTrvzGgrqBwI7V-5">
<mxGeometry relative="1" as="geometry" />
</mxCell>
<object label="<b>LiDAR Sensing Pipeline</b>" desc="MGRS座標系への変換" tooltip="gnssのdriverです" id="4suoUMRTrvzGgrqBwI7V-72">
<mxCell style="rounded=1;whiteSpace=wrap;html=1;comic=0;strokeColor=#9673a6;fillColor=#e1d5e7;sketch=0;" vertex="1" parent="1">
<mxGeometry x="300" y="-588" width="160" height="40" as="geometry" />
</mxCell>
</object>
<mxCell id="4suoUMRTrvzGgrqBwI7V-73" value="<font style="font-size: 14px;"><b style="">&lt;Sensing&gt;</b></font>" style="text;html=1;strokeColor=none;fillColor=none;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;dashed=1;comic=0;" vertex="1" parent="1">
<mxGeometry x="437" y="-638" width="80" height="30" as="geometry" />
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<mxCell id="4suoUMRTrvzGgrqBwI7V-74" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;entryX=0.75;entryY=0;entryDx=0;entryDy=0;" edge="1" parent="1" source="4suoUMRTrvzGgrqBwI7V-77" target="4suoUMRTrvzGgrqBwI7V-88">
<mxGeometry relative="1" as="geometry" />
</mxCell>
<mxCell id="4suoUMRTrvzGgrqBwI7V-75" value="/sensing/camera/camera*/image_rect_color" style="edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];" vertex="1" connectable="0" parent="4suoUMRTrvzGgrqBwI7V-74">
<mxGeometry x="-0.4759" y="-1" relative="1" as="geometry">
<mxPoint x="11" y="-11" as="offset" />
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</mxCell>
<mxCell id="4suoUMRTrvzGgrqBwI7V-76" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;" edge="1" parent="1" source="4suoUMRTrvzGgrqBwI7V-77" target="4suoUMRTrvzGgrqBwI7V-99">
<mxGeometry relative="1" as="geometry">
<Array as="points">
<mxPoint x="590" y="-470" />
<mxPoint x="590" y="-470" />
</Array>
</mxGeometry>
</mxCell>
<object label="<b>Camera Sensing Pipeline</b>" desc="MGRS座標系への変換" tooltip="gnssのdriverです" id="4suoUMRTrvzGgrqBwI7V-77">
<mxCell style="rounded=1;whiteSpace=wrap;html=1;comic=0;strokeColor=#9673a6;fillColor=#e1d5e7;sketch=0;" vertex="1" parent="1">
<mxGeometry x="510" y="-588" width="160" height="40" as="geometry" />
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