From a6db5ce0382aecc0dd5bcf7bdca18badbb2f9050 Mon Sep 17 00:00:00 2001 From: Ryohsuke Mitsudome Date: Wed, 19 Mar 2025 16:05:47 +0900 Subject: [PATCH] fix: replace autoware.universe to autoware_universe for documentation links Signed-off-by: Ryohsuke Mitsudome --- docs/design/autoware-architecture/index.md | 2 +- .../category_area.md | 12 +- .../category_crosswalk.md | 8 +- .../category_intersection.md | 44 +++--- .../category_lane.md | 32 ++--- .../category_others.md | 4 +- .../category_stop_line.md | 2 +- .../category_traffic_light.md | 6 +- ...-node-diagram-autoware-universe.drawio.svg | 4 +- .../image/planning-diagram.drawio.svg | 4 +- .../autoware-architecture/planning/index.md | 136 +++++++++--------- .../components/vehicle-interface.md | 2 +- .../creating-vector-map/crosswalk/index.md | 2 +- .../detection-area/index.md | 2 +- .../creating-vector-map/speed-bump/index.md | 2 +- .../creating-vector-map/stop-line/index.md | 2 +- .../traffic-light/index.md | 2 +- .../creating-vehicle-model/index.md | 4 +- .../launch-autoware/control/index.md | 4 +- .../launch-autoware/index.md | 4 +- .../launch-autoware/localization/index.md | 2 +- .../launch-autoware/perception/index.md | 6 +- .../launch-autoware/planning/index.md | 10 +- .../launch-autoware/system/index.md | 18 +-- .../others/reducing-start-delays.md | 10 +- .../training-models.md | 2 +- docs/index.md | 2 +- docs/support/docs-guide.md | 2 +- 28 files changed, 165 insertions(+), 165 deletions(-) diff --git a/docs/design/autoware-architecture/index.md b/docs/design/autoware-architecture/index.md index 55c54b56ad7..7d4dbe821ac 100644 --- a/docs/design/autoware-architecture/index.md +++ b/docs/design/autoware-architecture/index.md @@ -34,7 +34,7 @@ Autoware's architecture consists of the following seven stacks. Each linked page ## Node diagram -A diagram showing Autoware's nodes in the default configuration can be found on the [Node diagram](node-diagram/index.md) page. Detailed documents for each node are available in the [Autoware Universe docs](https://autowarefoundation.github.io/autoware.universe/main/). +A diagram showing Autoware's nodes in the default configuration can be found on the [Node diagram](node-diagram/index.md) page. Detailed documents for each node are available in the [Autoware Universe docs](https://autowarefoundation.github.io/autoware_universe/main/). Note that Autoware configurations are scalable / selectable and will vary depending on the environment and required use cases. diff --git a/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_area.md b/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_area.md index 6e5be9c1e0e..5bf51114f3a 100644 --- a/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_area.md +++ b/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_area.md @@ -33,8 +33,8 @@ None in particular. #### Related Autoware module -- [Static Avoidance - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/) -- [Dynamic Avoidance - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/) +- [Static Avoidance - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/) +- [Dynamic Avoidance - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/) --- @@ -64,7 +64,7 @@ None in particular. #### Related Autoware module -- [Goal Planner design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/) +- [Goal Planner design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/) --- @@ -94,7 +94,7 @@ None in particular. #### Related Autoware module -- [Goal Planner design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/) +- [Goal Planner design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/) --- @@ -124,7 +124,7 @@ None in particular. #### Related Autoware module -- [No Stopping Area design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/) +- [No Stopping Area design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/) --- @@ -148,4 +148,4 @@ None in particular. #### Related Autoware module -- [Detection Area - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/) +- [Detection Area - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/) diff --git a/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_crosswalk.md b/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_crosswalk.md index 20c956d6f8f..1d5079df368 100644 --- a/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_crosswalk.md +++ b/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_crosswalk.md @@ -39,7 +39,7 @@ None in particular. #### Related Autoware module -- [Crosswalk - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/) +- [Crosswalk - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/) --- @@ -69,7 +69,7 @@ None in particular. #### Related Autoware module -- [Crosswalk - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/) +- [Crosswalk - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/) --- @@ -92,7 +92,7 @@ None in particular. #### Related Autoware module -- [Crosswalk - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/) +- [Crosswalk - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/) --- @@ -116,4 +116,4 @@ None in particular. #### Related Autoware module -- [map_based_prediction - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/perception/autoware_map_based_prediction/) +- [map_based_prediction - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe/main/perception/autoware_map_based_prediction/) diff --git a/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_intersection.md b/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_intersection.md index 31ace0cfec7..2b2163daf1f 100644 --- a/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_intersection.md +++ b/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_intersection.md @@ -33,10 +33,10 @@ None in particular. #### Related Autoware module -- [Intersection - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/) -- [Blind Spot design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/) -- [Static Avoidance - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/) -- [Dynamic Avoidance - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/) +- [Intersection - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/) +- [Blind Spot design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/) +- [Static Avoidance - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/) +- [Dynamic Avoidance - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/) --- @@ -71,9 +71,9 @@ None in particular. #### Related Autoware module -- [Intersection - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/) -- [Blind Spot design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/) -- [virtual_traffic_light in behavior_velocity_planner - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/) +- [Intersection - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/) +- [Blind Spot design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/) +- [virtual_traffic_light in behavior_velocity_planner - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/) --- @@ -121,7 +121,7 @@ Autoware uses lanelets to predict the movements of other vehicles and plan the v #### Related Autoware module -- [Intersection - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/) +- [Intersection - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/) --- @@ -143,7 +143,7 @@ Create the Lanelets in the intersection as a single object without dividing them #### Related Autoware module -- [Intersection - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/) +- [Intersection - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/) --- @@ -167,7 +167,7 @@ None in particular. #### Related Autoware module -- [Intersection - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/) +- [Intersection - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/) --- @@ -189,7 +189,7 @@ When connecting multiple lanes with Lanelets at an intersection, those Lanelets #### Related Autoware module -- [Intersection - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/) +- [Intersection - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/) --- @@ -212,10 +212,10 @@ None in particular. #### Related Autoware module -- [Intersection - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/) -- [Blind Spot design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/) -- [Static Avoidance - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/) -- [Dynamic Avoidance - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/) +- [Intersection - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/) +- [Blind Spot design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/) +- [Static Avoidance - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/) +- [Dynamic Avoidance - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/) --- @@ -241,7 +241,7 @@ None in particular. #### Related Autoware module -- [Intersection - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/) +- [Intersection - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/) --- @@ -275,7 +275,7 @@ None in particular. #### Related Autoware module -- [Intersection - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/) +- [Intersection - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/) --- @@ -309,7 +309,7 @@ None in particular. #### Related Autoware module -- [Intersection - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/) +- [Intersection - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/) --- @@ -333,7 +333,7 @@ None in particular. #### Related Autoware module -- [Intersection - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/) +- [Intersection - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/) --- @@ -362,7 +362,7 @@ None in particular. #### Related Autoware module -- [Intersection - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/) +- [Intersection - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/) --- @@ -390,7 +390,7 @@ None in particular. #### Related Autoware module -- [Intersection - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/) +- [Intersection - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/) --- @@ -420,4 +420,4 @@ None in particular. #### Related Autoware module -- [Blind Spot design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/) +- [Blind Spot design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/) diff --git a/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_lane.md b/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_lane.md index c5e1177a5f2..29fa1bf4528 100644 --- a/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_lane.md +++ b/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_lane.md @@ -47,10 +47,10 @@ Set the Linestring _subtype_ according to the type of line. #### Related Autoware module -- [Lane Change design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/) -- [Static Avoidance - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/) -- [Dynamic Avoidance - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/) -- [Out of lane design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/) +- [Lane Change design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/) +- [Static Avoidance - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/) +- [Dynamic Avoidance - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/) +- [Out of lane design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe/main/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/) --- @@ -80,10 +80,10 @@ If the Lanelet adjacent to the one the vehicle is driving on shares a Linestring #### Related Autoware module -- [Lane Change design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/) -- [Static Avoidance - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/) -- [Dynamic Avoidance - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/) -- [Out of lane design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/) +- [Lane Change design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/) +- [Static Avoidance - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/) +- [Dynamic Avoidance - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/) +- [Out of lane design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe/main/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/) --- @@ -362,9 +362,9 @@ Do not create a road shoulder Lanelet for roads without a shoulder. #### Related Autoware module -- [Static Avoidance - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/) -- [Dynamic Avoidance - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/) -- [Goal Planner design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/) +- [Static Avoidance - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/) +- [Dynamic Avoidance - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/) +- [Goal Planner design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/) --- @@ -386,9 +386,9 @@ None in particular. #### Related Autoware module -- [Static Avoidance - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/) -- [Dynamic Avoidance - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/) -- [Goal Planner design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/) +- [Static Avoidance - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/) +- [Dynamic Avoidance - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/) +- [Goal Planner design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/) --- @@ -450,5 +450,5 @@ None in particular. #### Related Autoware module -- [Intersection - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/) -- [Walkway design- Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/) +- [Intersection - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/) +- [Walkway design- Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/) diff --git a/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_others.md b/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_others.md index c51a1f465cc..05d117f6baa 100644 --- a/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_others.md +++ b/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_others.md @@ -55,7 +55,7 @@ None in particular. #### Related Autoware module -- [map_based_prediction - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/perception/autoware_map_based_prediction/) +- [map_based_prediction - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe/main/perception/autoware_map_based_prediction/) --- @@ -77,7 +77,7 @@ Follow the same position guidelines for Linestrings of fences (_type:fence_). #### Related Autoware module -- [Drivable Area design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_planner_common/docs/behavior_path_planner_drivable_area_design/) +- [Drivable Area design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_path_planner/autoware_behavior_path_planner_common/docs/behavior_path_planner_drivable_area_design/) --- diff --git a/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_stop_line.md b/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_stop_line.md index d58ecb11c99..bf7520cf865 100644 --- a/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_stop_line.md +++ b/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_stop_line.md @@ -42,4 +42,4 @@ None in particular. #### Related Autoware module -- [Stop Line design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/) +- [Stop Line design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/) diff --git a/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_traffic_light.md b/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_traffic_light.md index a9e981be05d..28db8d6a3df 100644 --- a/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_traffic_light.md +++ b/docs/design/autoware-architecture/map/map-requirements/vector-map-requirements-overview/category_traffic_light.md @@ -29,7 +29,7 @@ If there is a crosswalk at the intersection, arrange for the road's Lanelet and #### Related Autoware module -- [Traffic Light design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/) +- [Traffic Light design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/) --- @@ -60,7 +60,7 @@ None in particular. #### Related Autoware module -- [Traffic Light design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/) +- [Traffic Light design - Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/) --- @@ -89,4 +89,4 @@ None in particular. 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link="https://github.com/autowarefoundation/autoware.universe/tree/main/planning/behavior_path_planner" id="11"> <mxCell style="rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;verticalAlign=top;sketch=0;shadow=0;" parent="huNNO2pCuBcXr_yaQgU9-41" vertex="1"> <mxGeometry x="-530" y="-790" width="200" height="279" as="geometry" /> </mxCell> </UserObject> <UserObject label="side_shift" tooltip="遠隔からの司令をもとに幅寄せを行います。" id="14"> <mxCell style="rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;" parent="huNNO2pCuBcXr_yaQgU9-41" vertex="1"> <mxGeometry x="-490" y="-558" width="120" height="30" as="geometry" /> </mxCell> </UserObject> <UserObject label="start_planner/goal_planner" 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="13"> <mxCell style="rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;" parent="huNNO2pCuBcXr_yaQgU9-41" vertex="1"> <mxGeometry x="-511" y="-598" 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<UserObject label="run_out" tooltip="規定された停止線で一時停止を行います" id="iM43lsEIwqhlJ7BxjptO-52"> <mxCell style="rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;" parent="99" vertex="1"> <mxGeometry y="124" width="110" height="25" as="geometry" /> </mxCell> </UserObject> <UserObject label="merge_from_private" tooltip="規定された停止線で一時停止を行います" id="zEs4wxTr3dO1cdEekOQt-55"> <mxCell style="rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;" parent="99" vertex="1"> <mxGeometry y="186.46341463414635" width="110" height="25" as="geometry" /> </mxCell> </UserObject> <UserObject label="occlusion_spot" 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="34"> <mxCell style="rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;flipV=0;flipH=1;" parent="huNNO2pCuBcXr_yaQgU9-41" vertex="1"> <mxGeometry x="-543" y="-341" width="110" height="25" as="geometry" /> </mxCell> </UserObject> <UserObject label="cross_walk" 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="37"> <mxCell style="rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;flipV=0;flipH=1;" parent="huNNO2pCuBcXr_yaQgU9-41" vertex="1"> <mxGeometry x="-543" y="-402" width="110" height="25" as="geometry" /> </mxCell> </UserObject> <UserObject label="detection_area" 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="39"> <mxCell style="rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;flipV=0;flipH=1;" parent="huNNO2pCuBcXr_yaQgU9-41" vertex="1"> <mxGeometry x="-543" y="-433" width="110" height="25" as="geometry" /> </mxCell> </UserObject> <UserObject label="stop_line" tooltip="規定された停止線で一時停止を行います" id="40"> <mxCell style="rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;flipV=0;flipH=1;" parent="huNNO2pCuBcXr_yaQgU9-41" vertex="1"> <mxGeometry x="-543" 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tooltip="遠隔から来たコマンド（アクセル/ブレーキ）を目標速度/加速度の信号に変換します" id="huNNO2pCuBcXr_yaQgU9-137"> <mxCell style="rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#ffe6cc;strokeColor=#d79b00;sketch=0;glass=0;shadow=0;" parent="huNNO2pCuBcXr_yaQgU9-10" vertex="1"> <mxGeometry x="880" y="-670" width="120" height="40" as="geometry" /> </mxCell> </UserObject> <mxCell id="huNNO2pCuBcXr_yaQgU9-147" value="/external/selected/external_control_cmd&lt;br&gt;&amp;nbsp;[tier4_external_api_msgs/msg/ControlCommandStamped]" style="edgeStyle=orthogonalEdgeStyle;rounded=0;comic=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.5;entryY=0;entryDx=0;entryDy=0;exitX=0.5;exitY=1;exitDx=0;exitDy=0;" parent="huNNO2pCuBcXr_yaQgU9-10" source="huNNO2pCuBcXr_yaQgU9-145" target="huNNO2pCuBcXr_yaQgU9-137" edge="1"> <mxGeometry relative="1" as="geometry"> <mxPoint x="1001" y="-340" as="targetPoint" /> </mxGeometry> </mxCell> <UserObject label="external_cmd_&lt;br&gt;selector" 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<UserObject label="run_out" tooltip="規定された停止線で一時停止を行います" id="iM43lsEIwqhlJ7BxjptO-52"> <mxCell style="rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;" parent="99" vertex="1"> <mxGeometry y="124" width="110" height="25" as="geometry" /> </mxCell> </UserObject> <UserObject label="merge_from_private" tooltip="規定された停止線で一時停止を行います" id="zEs4wxTr3dO1cdEekOQt-55"> <mxCell style="rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;" parent="99" vertex="1"> <mxGeometry y="186.46341463414635" width="110" height="25" as="geometry" /> </mxCell> </UserObject> <UserObject label="occlusion_spot" 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="34"> <mxCell style="rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;flipV=0;flipH=1;" parent="huNNO2pCuBcXr_yaQgU9-41" vertex="1"> <mxGeometry x="-543" y="-341" width="110" height="25" as="geometry" /> </mxCell> </UserObject> <UserObject label="cross_walk" 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="37"> <mxCell style="rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;flipV=0;flipH=1;" parent="huNNO2pCuBcXr_yaQgU9-41" vertex="1"> <mxGeometry x="-543" y="-402" width="110" height="25" as="geometry" /> </mxCell> </UserObject> <UserObject label="detection_area" 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="39"> <mxCell style="rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;flipV=0;flipH=1;" parent="huNNO2pCuBcXr_yaQgU9-41" vertex="1"> <mxGeometry x="-543" y="-433" width="110" height="25" as="geometry" /> </mxCell> </UserObject> <UserObject label="stop_line" tooltip="規定された停止線で一時停止を行います" id="40"> <mxCell style="rounded=1;whiteSpace=wrap;html=1;comic=0;fillColor=#fff2cc;strokeColor=#d6b656;sketch=0;shadow=0;flipV=0;flipH=1;" parent="huNNO2pCuBcXr_yaQgU9-41" vertex="1"> <mxGeometry x="-543" 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intersection management, are modularized. These modules come with standardized interfaces, enabling easy addition or modification. More details on these interfaces will be discussed in subsequent sections. You can see the details about how to enable/disable each module in [the implementation documentation of Planning](https://autowarefoundation.github.io/autoware.universe/main/planning/#how-to-enable-or-disable-planning-module). +Essential Planning functions, such as route generation, lane changes, and intersection management, are modularized. These modules come with standardized interfaces, enabling easy addition or modification. More details on these interfaces will be discussed in subsequent sections. You can see the details about how to enable/disable each module in [the implementation documentation of Planning](https://autowarefoundation.github.io/autoware_universe/main/planning/#how-to-enable-or-disable-planning-module). #### Separation of Mission Planning sub-component @@ -88,7 +88,7 @@ A significant feature of the Planning Component design is its ability to integra Users can augment or replace existing Planning functionalities with new modules. This approach is commonly used for extending features, allowing for the addition of capabilities absent in the desired ODD or simplification of existing features. -However, adding these functionalities requires well-organized module interfaces. As of November 2023, an ideal modular system is not fully established, presenting some limitations. For more information, please refer to the Reference Implementation section [Customize features in the current implementation](#customize-features-in-the-current-implementation) and [the implementation documentation of Planning](https://autowarefoundation.github.io/autoware.universe/main/planning/#how-to-enable-or-disable-planning-module). +However, adding these functionalities requires well-organized module interfaces. As of November 2023, an ideal modular system is not fully established, presenting some limitations. For more information, please refer to the Reference Implementation section [Customize features in the current implementation](#customize-features-in-the-current-implementation) and [the implementation documentation of Planning](https://autowarefoundation.github.io/autoware_universe/main/planning/#how-to-enable-or-disable-planning-module). ### 2. Replacing Sub-components of Planning @@ -155,43 +155,43 @@ This section describes the inputs and outputs of the Planning Component and of i | Feature | Description | Requirements | Figure | Demonstration | | -------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------- | ------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -| Route Planning | Plan route from the ego vehicle position to the destination.

Reference implementation is in [Mission Planner](https://autowarefoundation.github.io/autoware.universe/main/planning/autoware_mission_planner/), enabled by launching the `mission_planner` node. | - Lanelet map (driving lanelets) | ![route-planning](image/features-route-planning.drawio.svg) | | -| Path Planning from Route | Plan path to be followed from the given route.

Reference implementation is in [Behavior Path Planner](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_planner/). | - Lanelet map (driving lanelets) | ![lane-follow](image/features-lane-follow.drawio.svg) | | -| Obstacle Avoidance | Plan path to avoid obstacles by steering operation.

Reference implementation is in [Static Avoidance Module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/), [Path Optimizer](https://autowarefoundation.github.io/autoware.universe/main/planning/autoware_path_optimizer/). Enable flag in parameter: `launch path_optimizer true` | - objects information | ![obstacle-avoidance](image/features-avoidance.drawio.svg) | [Demonstration Video](https://youtu.be/A_V9yvfKZ4E)
[![Demonstration Video](https://img.youtube.com/vi/A_V9yvfKZ4E/0.jpg)](https://www.youtube.com/watch?v=A_V9yvfKZ4E) | -| Path Smoothing | Plan path to achieve smooth steering.

Reference implementation is in [Path Optimizer](https://autowarefoundation.github.io/autoware.universe/main/planning/autoware_path_optimizer/). | - Lanelet map (driving lanelet) | ![path-smoothing](image/features-path-smoothing.drawio.svg) | [Demonstration Video](https://youtu.be/RhyAF26Ppzs)
[![Demonstration Video](https://img.youtube.com/vi/RhyAF26Ppzs/0.jpg)](https://www.youtube.com/watch?v=RhyAF26Ppzs) | -| Narrow Space Driving | Plan path to drive within the drivable area. Furthermore, when it is not possible to drive within the drivable area, stop the vehicle to avoid exiting the drivable area.

Reference implementation is in [Path Optimizer](https://autowarefoundation.github.io/autoware.universe/main/planning/autoware_path_optimizer/). | - Lanelet map (high-precision lane boundaries) | ![narrow-space-driving](image/features-narrow-space-driving.drawio.svg) | [Demonstration Video](https://youtu.be/URzcLO2E1vY)
[![Demonstration Video](https://img.youtube.com/vi/URzcLO2E1vY/0.jpg)](https://www.youtube.com/watch?v=URzcLO2E1vY) | -| Lane Change | Plan path for lane change to reach the destination.

Reference implementation is in [Lane Change](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/). | - Lanelet map (driving lanelets) | ![lane-change](image/features-lane-change.drawio.svg) | [Demonstration Video](https://youtu.be/0jRDGQ84cD4)
[![Demonstration Video](https://img.youtube.com/vi/0jRDGQ84cD4/0.jpg)](https://www.youtube.com/watch?v=0jRDGQ84cD4) | -| Pull Over | Plan path for pull over to park at the road shoulder.

Reference implementation is in [Goal Planner](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/). | - Lanelet map (shoulder lane) | ![pull-over](image/features-pull-over.drawio.svg) | Demonstration Videos:
[Simple Pull Over](https://youtu.be/r3-kAmTb4hc)
[![Demonstration Video](https://img.youtube.com/vi/r3-kAmTb4hc/0.jpg)](https://www.youtube.com/watch?v=r3-kAmTb4hc)
[Arc Forward Pull Over](https://youtu.be/ornbzkWxRWU)
[![Demonstration Video](https://img.youtube.com/vi/ornbzkWxRWU/0.jpg)](https://www.youtube.com/watch?v=ornbzkWxRWU)
[Arc Backward Pull Over](https://youtu.be/if-0tG3AkLo)
[![Demonstration Video](https://img.youtube.com/vi/if-0tG3AkLo/0.jpg)](https://www.youtube.com/watch?v=if-0tG3AkLo) | -| Pull Out | Plan path for pull over to start from the road shoulder.

Reference implementation is in [Start Planner](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/). | - Lanelet map (shoulder lane) | ![pull-out](image/features-pull-out.drawio.svg) | Demonstration Video:
[Simple Pull Out](https://youtu.be/xOjnPqoHup4)
[![Demonstration Video](https://img.youtube.com/vi/xOjnPqoHup4/0.jpg)](https://www.youtube.com/watch?v=xOjnPqoHup4)
[Backward Pull Out](https://youtu.be/iGieijPcPcQ)
[![Demonstration Video](https://img.youtube.com/vi/iGieijPcPcQ/0.jpg)](https://www.youtube.com/watch?v=iGieijPcPcQ) | -| Path Shift | Plan path in lateral direction in response to external instructions.

Reference implementation is in [Side Shift Module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/). | - None | ![side-shift](image/features-side-shift.drawio.svg) | | -| Obstacle Stop | Plan velocity to stop for an obstacle on the path.

Reference implementation is in [Obstacle Stop Planner](https://autowarefoundation.github.io/autoware.universe/main/planning/obstacle_stop_planner/), [Obstacle Cruise Planner](https://autowarefoundation.github.io/autoware.universe/main/planning/autoware_obstacle_cruise_planner/). `launch obstacle_stop_planner` and enable flag: `TODO`, `launch obstacle_cruise_planner` and enable flag: `TODO` | - objects information | ![obstacle-stop](image/features-obstacle-stop.drawio.svg) | [Demonstration Video](https://youtu.be/d8IRW_xArcE)
[![Demonstration Video](https://img.youtube.com/vi/d8IRW_xArcE/0.jpg)](https://www.youtube.com/watch?v=d8IRW_xArcE) | -| Obstacle Deceleration | Plan velocity to decelerate for an obstacle located around the path.

Reference implementation is in [Obstacle Stop Planner](https://autowarefoundation.github.io/autoware.universe/main/planning/obstacle_stop_planner/), [Obstacle Cruise Planner](https://autowarefoundation.github.io/autoware.universe/main/planning/autoware_obstacle_cruise_planner/). | - objects information | ![obstacle-decel](image/features-obstacle-decel.drawio.svg) | [Demonstration Video](https://youtu.be/gvN1otgeaaw)
[![Demonstration Video](https://img.youtube.com/vi/gvN1otgeaaw/0.jpg)](https://www.youtube.com/watch?v=gvN1otgeaaw) | -| Adaptive Cruise Control | Plan velocity to follow the vehicle driving in front of the ego vehicle.

Reference implementation is in [Obstacle Stop Planner](https://autowarefoundation.github.io/autoware.universe/main/planning/obstacle_stop_planner/), [Obstacle Cruise Planner](https://autowarefoundation.github.io/autoware.universe/main/planning/autoware_obstacle_cruise_planner/). | - objects information | ![adaptive-cruise](image/features-adaptive-cruise.drawio.svg) | | -| Decelerate for cut-in vehicles | Plan velocity to avoid a risk for cutting-in vehicle to ego lane.

Reference implementation is in [Obstacle Cruise Planner](https://autowarefoundation.github.io/autoware.universe/main/planning/autoware_obstacle_cruise_planner/). | - objects information | ![cut-in](image/features-cut-in.drawio.svg) | | -| Surround Check at starting | Plan velocity to prevent moving when an obstacle exists around the vehicle.

Reference implementation is in [Surround Obstacle Checker](https://autowarefoundation.github.io/autoware.universe/main/planning/autoware_surround_obstacle_checker/). Enable flag in parameter: `use_surround_obstacle_check true` in [tier4_planning_component.launch.xml](https://github.com/autowarefoundation/autoware_launch/blob/2850d7f4e20b173fde2183d5323debbe0067a990/autoware_launch/launch/components/tier4_planning_component.launch.xml#L8) < | - objects information | ![surround-check](image/features-surround-check.drawio.svg) | [Demonstration Video](https://youtu.be/bbGgtXN3lC4)
[![Demonstration Video](https://img.youtube.com/vi/bbGgtXN3lC4/0.jpg)](https://www.youtube.com/watch?v=bbGgtXN3lC4) | -| Curve Deceleration | Plan velocity to decelerate the speed on a curve.

Reference implementation is in [Motion Velocity Smoother](https://autowarefoundation.github.io/autoware.universe/main/planning/autoware_velocity_smoother/). | - None | ![decel-on-curve](image/features-decel-on-curve.drawio.svg) | | -| Curve Deceleration for Obstacle | Plan velocity to decelerate the speed on a curve for a risk of obstacle collision around the path.

Reference implementation is in [Obstacle Velocity Limiter](https://autowarefoundation.github.io/autoware.universe/main/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/). | - objects information
- Lanelet map (static obstacle) | ![decel-on-curve-obstacles](image/features-decel-on-curve-obstacles.drawio.svg) | [Demonstration Video](https://youtu.be/I-oFgG6kIAs)
[![Demonstration Video](https://img.youtube.com/vi/I-oFgG6kIAs/0.jpg)](https://www.youtube.com/watch?v=I-oFgG6kIAs) | -| Crosswalk | Plan velocity to stop or decelerate for pedestrians approaching or walking on a crosswalk.

Reference implementation is in [Crosswalk Module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/). | - objects information
- Lanelet map (pedestrian crossing) | ![crosswalk](image/features-crosswalk.drawio.svg) | [Demonstration Video](https://youtu.be/tUvthyIL2W8)
[![Demonstration Video](https://img.youtube.com/vi/tUvthyIL2W8/0.jpg)](https://www.youtube.com/watch?v=tUvthyIL2W8) | -| Intersection Oncoming Vehicle Check | Plan velocity for turning right/left at intersection to avoid a risk with oncoming other vehicles.

Reference implementation is in [Intersection Module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/). | - objects information
- Lanelet map (intersection lane and yield lane) | ![intersection](image/features-intersection.drawio.svg) | [Demonstration Video](https://youtu.be/SGD07Hqg4Hk)
[![Demonstration Video](https://img.youtube.com/vi/SGD07Hqg4Hk/0.jpg)](https://www.youtube.com/watch?v=SGD07Hqg4Hk) | -| Intersection Blind Spot Check | Plan velocity for turning right/left at intersection to avoid a risk with other vehicles or motorcycles coming from behind blind spot.

Reference implementation is in [Blind Spot Module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/). | - objects information
- Lanelet map (intersection lane) | ![blind-spot](image/features-blind-spot.drawio.svg) | [Demonstration Video](https://youtu.be/oaTCJRafDGA)
[![Demonstration Video](https://img.youtube.com/vi/oaTCJRafDGA/0.jpg)](https://www.youtube.com/watch?v=oaTCJRafDGA) | -| Intersection Occlusion Check | Plan velocity for turning right/left at intersection to avoid a risk with the possibility of coming vehicles from occlusion area.

Reference implementation is in [Intersection Module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/). | - objects information
- Lanelet map (intersection lane) | ![intersection-occlusion](image/features-intersection-occlusion.drawio.svg) | [Demonstration Video](https://youtu.be/bAHXMB7kbFc)
[![Demonstration Video](https://img.youtube.com/vi/bAHXMB7kbFc/0.jpg)](https://www.youtube.com/watch?v=bAHXMB7kbFc) | -| Intersection Traffic Jam Detection | Plan velocity for intersection not to enter the intersection when a vehicle is stopped ahead for a traffic jam.

Reference implementation is in [Intersection Module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/). | - objects information
- Lanelet map (intersection lane) | ![intersection-traffic-jam](image/features-intersection-traffic-jam.drawio.svg) | [Demonstration Video](https://youtu.be/negK4VbrC5o)
[![Demonstration Video](https://img.youtube.com/vi/negK4VbrC5o/0.jpg)](https://www.youtube.com/watch?v=negK4VbrC5o) | -| Traffic Light | Plan velocity for intersection according to a traffic light signal.

Reference implementation is in [Traffic Light Module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/). | - Traffic light color information | ![traffic-light](image/features-traffic-light.drawio.svg) | [Demonstration Video](https://youtu.be/lGA53KljQrM)
[![Demonstration Video](https://img.youtube.com/vi/lGA53KljQrM/0.jpg)](https://www.youtube.com/watch?v=lGA53KljQrM) | -| Run-out Check | Plan velocity to decelerate for the possibility of nearby objects running out into the path.

Reference implementation is in [Run Out Module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/). | - objects information | ![run-out](image/features-run-out.drawio.svg) | [Demonstration Video](https://youtu.be/9IDggldT2t0)
[![Demonstration Video](https://img.youtube.com/vi/9IDggldT2t0/0.jpg)](https://www.youtube.com/watch?v=9IDggldT2t0) | -| Stop Line | Plan velocity to stop at a stop line.

Reference implementation is in [Stop Line Module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/). | - Lanelet map (stop line) | ![stop-line](image/features-stop-line.drawio.svg) | [Demonstration Video](https://youtu.be/eej9jYt-GSE)
[![Demonstration Video](https://img.youtube.com/vi/eej9jYt-GSE/0.jpg)](https://www.youtube.com/watch?v=eej9jYt-GSE) | -| Occlusion Spot Check | Plan velocity to decelerate for objects running out from occlusion area, for example, from behind a large vehicle.

Reference implementation is in [Occlusion Spot Module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/). | - objects information
- Lanelet map (private/public lane) | ![occlusion-spot](image/features-occlusion-spot.drawio.svg) | [Demonstration Video](https://youtu.be/3qs8Ivjh1fs)
[![Demonstration Video](https://img.youtube.com/vi/3qs8Ivjh1fs/0.jpg)](https://www.youtube.com/watch?v=3qs8Ivjh1fs) | -| No Stop Area | Plan velocity not to stop in areas where stopping is prohibited, such as in front of the fire station entrance.

Reference implementation is in [No Stopping Area Module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/). | - Lanelet map (no stopping area) | ![no-stopping-area](image/features-no-stopping-area.drawio.svg) | | -| Merge from Private Area to Public Road | Plan velocity for entering the public road from a private driveway to avoid a risk of collision with pedestrians or other vehicles.

Reference implementation is in [Merge from Private Area Module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/). | - objects information
- Lanelet map (private/public lane) | WIP | | -| Speed Bump | Plan velocity to decelerate for speed bumps.

Reference implementation is in [Speed Bump Module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/). | - Lanelet map (speed bump) | ![speed-bump](image/features-speed-bump.drawio.svg) | [Demonstration Video](https://youtu.be/FpX3q3YaaCw)
[![Demonstration Video](https://img.youtube.com/vi/FpX3q3YaaCw/0.jpg)](https://www.youtube.com/watch?v=FpX3q3YaaCw) | -| Detection Area | Plan velocity to stop at the corresponding stop when an object exist in the designated detection area.

Reference implementation is in [Detection Area Module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/). | - Lanelet map (detection area) | ![detection-area](image/features-detection-area.drawio.svg) | [Demonstration Video](https://youtu.be/YzXF4U69lJs)
[![Demonstration Video](https://img.youtube.com/vi/YzXF4U69lJs/0.jpg)](https://www.youtube.com/watch?v=YzXF4U69lJs) | -| No Drivable Lane | Plan velocity to stop before exiting the area designated by ODD (Operational Design Domain) or stop the vehicle if autonomous mode started in out of ODD lane.

Reference implementation is in [No Drivable Lane Module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/). | - Lanelet map (no drivable lane) | ![no-drivable-lane](image/features-no-drivable-lane.drawio.svg) | | -| Collision Detection when deviating from lane | Plan velocity to avoid conflict with other vehicles driving in the another lane when the ego vehicle is deviating from own lane.

Reference implementation is in [Out of Lane Module](https://autowarefoundation.github.io/autoware.universe/main/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/). | - objects information
- Lanelet map (driving lane) | WIP | | -| Parking | Plan path and velocity for given goal in parking area.

Reference implementation is in [Free Space Planner](https://autowarefoundation.github.io/autoware.universe/main/planning/autoware_freespace_planner/). | - objects information
- Lanelet map (parking area) | ![parking](image/features-parking.drawio.svg) | [Demonstration Video](https://youtu.be/rAIYmwpNWfA)
[![Demonstration Video](https://img.youtube.com/vi/rAIYmwpNWfA/0.jpg)](https://www.youtube.com/watch?v=rAIYmwpNWfA) | -| Autonomous Emergency Braking (AEB) | Perform an emergency stop if a collision with an object ahead is anticipated. It is noted that this function is expected as a final safety layer, and this should work even in the event of failures in the Localization or Perception system.

Reference implementation is in [Out of Lane Module](https://autowarefoundation.github.io/autoware.universe/main/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/). | - Primitive objects | ![aeb](image/features-aeb.drawio.svg) | | +| Route Planning | Plan route from the ego vehicle position to the destination.

Reference implementation is in [Mission Planner](https://autowarefoundation.github.io/autoware_universe/main/planning/autoware_mission_planner/), enabled by launching the `mission_planner` node. | - Lanelet map (driving lanelets) | ![route-planning](image/features-route-planning.drawio.svg) | | +| Path Planning from Route | Plan path to be followed from the given route.

Reference implementation is in [Behavior Path Planner](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_path_planner/autoware_behavior_path_planner/). | - Lanelet map (driving lanelets) | ![lane-follow](image/features-lane-follow.drawio.svg) | | +| Obstacle Avoidance | Plan path to avoid obstacles by steering operation.

Reference implementation is in [Static Avoidance Module](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/), [Path Optimizer](https://autowarefoundation.github.io/autoware_universe/main/planning/autoware_path_optimizer/). Enable flag in parameter: `launch path_optimizer true` | - objects information | ![obstacle-avoidance](image/features-avoidance.drawio.svg) | [Demonstration Video](https://youtu.be/A_V9yvfKZ4E)
[![Demonstration Video](https://img.youtube.com/vi/A_V9yvfKZ4E/0.jpg)](https://www.youtube.com/watch?v=A_V9yvfKZ4E) | +| Path Smoothing | Plan path to achieve smooth steering.

Reference implementation is in [Path Optimizer](https://autowarefoundation.github.io/autoware_universe/main/planning/autoware_path_optimizer/). | - Lanelet map (driving lanelet) | ![path-smoothing](image/features-path-smoothing.drawio.svg) | [Demonstration Video](https://youtu.be/RhyAF26Ppzs)
[![Demonstration Video](https://img.youtube.com/vi/RhyAF26Ppzs/0.jpg)](https://www.youtube.com/watch?v=RhyAF26Ppzs) | +| Narrow Space Driving | Plan path to drive within the drivable area. Furthermore, when it is not possible to drive within the drivable area, stop the vehicle to avoid exiting the drivable area.

Reference implementation is in [Path Optimizer](https://autowarefoundation.github.io/autoware_universe/main/planning/autoware_path_optimizer/). | - Lanelet map (high-precision lane boundaries) | ![narrow-space-driving](image/features-narrow-space-driving.drawio.svg) | [Demonstration Video](https://youtu.be/URzcLO2E1vY)
[![Demonstration Video](https://img.youtube.com/vi/URzcLO2E1vY/0.jpg)](https://www.youtube.com/watch?v=URzcLO2E1vY) | +| Lane Change | Plan path for lane change to reach the destination.

Reference implementation is in [Lane Change](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/). | - Lanelet map (driving lanelets) | ![lane-change](image/features-lane-change.drawio.svg) | [Demonstration Video](https://youtu.be/0jRDGQ84cD4)
[![Demonstration Video](https://img.youtube.com/vi/0jRDGQ84cD4/0.jpg)](https://www.youtube.com/watch?v=0jRDGQ84cD4) | +| Pull Over | Plan path for pull over to park at the road shoulder.

Reference implementation is in [Goal Planner](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/). | - Lanelet map (shoulder lane) | ![pull-over](image/features-pull-over.drawio.svg) | Demonstration Videos:
[Simple Pull Over](https://youtu.be/r3-kAmTb4hc)
[![Demonstration Video](https://img.youtube.com/vi/r3-kAmTb4hc/0.jpg)](https://www.youtube.com/watch?v=r3-kAmTb4hc)
[Arc Forward Pull Over](https://youtu.be/ornbzkWxRWU)
[![Demonstration Video](https://img.youtube.com/vi/ornbzkWxRWU/0.jpg)](https://www.youtube.com/watch?v=ornbzkWxRWU)
[Arc Backward Pull Over](https://youtu.be/if-0tG3AkLo)
[![Demonstration Video](https://img.youtube.com/vi/if-0tG3AkLo/0.jpg)](https://www.youtube.com/watch?v=if-0tG3AkLo) | +| Pull Out | Plan path for pull over to start from the road shoulder.

Reference implementation is in [Start Planner](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/). | - Lanelet map (shoulder lane) | ![pull-out](image/features-pull-out.drawio.svg) | Demonstration Video:
[Simple Pull Out](https://youtu.be/xOjnPqoHup4)
[![Demonstration Video](https://img.youtube.com/vi/xOjnPqoHup4/0.jpg)](https://www.youtube.com/watch?v=xOjnPqoHup4)
[Backward Pull Out](https://youtu.be/iGieijPcPcQ)
[![Demonstration Video](https://img.youtube.com/vi/iGieijPcPcQ/0.jpg)](https://www.youtube.com/watch?v=iGieijPcPcQ) | +| Path Shift | Plan path in lateral direction in response to external instructions.

Reference implementation is in [Side Shift Module](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/). | - None | ![side-shift](image/features-side-shift.drawio.svg) | | +| Obstacle Stop | Plan velocity to stop for an obstacle on the path.

Reference implementation is in [Obstacle Stop Planner](https://autowarefoundation.github.io/autoware_universe/main/planning/obstacle_stop_planner/), [Obstacle Cruise Planner](https://autowarefoundation.github.io/autoware_universe/main/planning/autoware_obstacle_cruise_planner/). `launch obstacle_stop_planner` and enable flag: `TODO`, `launch obstacle_cruise_planner` and enable flag: `TODO` | - objects information | ![obstacle-stop](image/features-obstacle-stop.drawio.svg) | [Demonstration Video](https://youtu.be/d8IRW_xArcE)
[![Demonstration Video](https://img.youtube.com/vi/d8IRW_xArcE/0.jpg)](https://www.youtube.com/watch?v=d8IRW_xArcE) | +| Obstacle Deceleration | Plan velocity to decelerate for an obstacle located around the path.

Reference implementation is in [Obstacle Stop Planner](https://autowarefoundation.github.io/autoware_universe/main/planning/obstacle_stop_planner/), [Obstacle Cruise Planner](https://autowarefoundation.github.io/autoware_universe/main/planning/autoware_obstacle_cruise_planner/). | - objects information | ![obstacle-decel](image/features-obstacle-decel.drawio.svg) | [Demonstration Video](https://youtu.be/gvN1otgeaaw)
[![Demonstration Video](https://img.youtube.com/vi/gvN1otgeaaw/0.jpg)](https://www.youtube.com/watch?v=gvN1otgeaaw) | +| Adaptive Cruise Control | Plan velocity to follow the vehicle driving in front of the ego vehicle.

Reference implementation is in [Obstacle Stop Planner](https://autowarefoundation.github.io/autoware_universe/main/planning/obstacle_stop_planner/), [Obstacle Cruise Planner](https://autowarefoundation.github.io/autoware_universe/main/planning/autoware_obstacle_cruise_planner/). | - objects information | ![adaptive-cruise](image/features-adaptive-cruise.drawio.svg) | | +| Decelerate for cut-in vehicles | Plan velocity to avoid a risk for cutting-in vehicle to ego lane.

Reference implementation is in [Obstacle Cruise Planner](https://autowarefoundation.github.io/autoware_universe/main/planning/autoware_obstacle_cruise_planner/). | - objects information | ![cut-in](image/features-cut-in.drawio.svg) | | +| Surround Check at starting | Plan velocity to prevent moving when an obstacle exists around the vehicle.

Reference implementation is in [Surround Obstacle Checker](https://autowarefoundation.github.io/autoware_universe/main/planning/autoware_surround_obstacle_checker/). Enable flag in parameter: `use_surround_obstacle_check true` in [tier4_planning_component.launch.xml](https://github.com/autowarefoundation/autoware_launch/blob/2850d7f4e20b173fde2183d5323debbe0067a990/autoware_launch/launch/components/tier4_planning_component.launch.xml#L8) < | - objects information | ![surround-check](image/features-surround-check.drawio.svg) | [Demonstration Video](https://youtu.be/bbGgtXN3lC4)
[![Demonstration Video](https://img.youtube.com/vi/bbGgtXN3lC4/0.jpg)](https://www.youtube.com/watch?v=bbGgtXN3lC4) | +| Curve Deceleration | Plan velocity to decelerate the speed on a curve.

Reference implementation is in [Motion Velocity Smoother](https://autowarefoundation.github.io/autoware_universe/main/planning/autoware_velocity_smoother/). | - None | ![decel-on-curve](image/features-decel-on-curve.drawio.svg) | | +| Curve Deceleration for Obstacle | Plan velocity to decelerate the speed on a curve for a risk of obstacle collision around the path.

Reference implementation is in [Obstacle Velocity Limiter](https://autowarefoundation.github.io/autoware_universe/main/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/). | - objects information
- Lanelet map (static obstacle) | ![decel-on-curve-obstacles](image/features-decel-on-curve-obstacles.drawio.svg) | [Demonstration Video](https://youtu.be/I-oFgG6kIAs)
[![Demonstration Video](https://img.youtube.com/vi/I-oFgG6kIAs/0.jpg)](https://www.youtube.com/watch?v=I-oFgG6kIAs) | +| Crosswalk | Plan velocity to stop or decelerate for pedestrians approaching or walking on a crosswalk.

Reference implementation is in [Crosswalk Module](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/). | - objects information
- Lanelet map (pedestrian crossing) | ![crosswalk](image/features-crosswalk.drawio.svg) | [Demonstration Video](https://youtu.be/tUvthyIL2W8)
[![Demonstration Video](https://img.youtube.com/vi/tUvthyIL2W8/0.jpg)](https://www.youtube.com/watch?v=tUvthyIL2W8) | +| Intersection Oncoming Vehicle Check | Plan velocity for turning right/left at intersection to avoid a risk with oncoming other vehicles.

Reference implementation is in [Intersection Module](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/). | - objects information
- Lanelet map (intersection lane and yield lane) | ![intersection](image/features-intersection.drawio.svg) | [Demonstration Video](https://youtu.be/SGD07Hqg4Hk)
[![Demonstration Video](https://img.youtube.com/vi/SGD07Hqg4Hk/0.jpg)](https://www.youtube.com/watch?v=SGD07Hqg4Hk) | +| Intersection Blind Spot Check | Plan velocity for turning right/left at intersection to avoid a risk with other vehicles or motorcycles coming from behind blind spot.

Reference implementation is in [Blind Spot Module](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/). | - objects information
- Lanelet map (intersection lane) | ![blind-spot](image/features-blind-spot.drawio.svg) | [Demonstration Video](https://youtu.be/oaTCJRafDGA)
[![Demonstration Video](https://img.youtube.com/vi/oaTCJRafDGA/0.jpg)](https://www.youtube.com/watch?v=oaTCJRafDGA) | +| Intersection Occlusion Check | Plan velocity for turning right/left at intersection to avoid a risk with the possibility of coming vehicles from occlusion area.

Reference implementation is in [Intersection Module](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/). | - objects information
- Lanelet map (intersection lane) | ![intersection-occlusion](image/features-intersection-occlusion.drawio.svg) | [Demonstration Video](https://youtu.be/bAHXMB7kbFc)
[![Demonstration Video](https://img.youtube.com/vi/bAHXMB7kbFc/0.jpg)](https://www.youtube.com/watch?v=bAHXMB7kbFc) | +| Intersection Traffic Jam Detection | Plan velocity for intersection not to enter the intersection when a vehicle is stopped ahead for a traffic jam.

Reference implementation is in [Intersection Module](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/). | - objects information
- Lanelet map (intersection lane) | ![intersection-traffic-jam](image/features-intersection-traffic-jam.drawio.svg) | [Demonstration Video](https://youtu.be/negK4VbrC5o)
[![Demonstration Video](https://img.youtube.com/vi/negK4VbrC5o/0.jpg)](https://www.youtube.com/watch?v=negK4VbrC5o) | +| Traffic Light | Plan velocity for intersection according to a traffic light signal.

Reference implementation is in [Traffic Light Module](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/). | - Traffic light color information | ![traffic-light](image/features-traffic-light.drawio.svg) | [Demonstration Video](https://youtu.be/lGA53KljQrM)
[![Demonstration Video](https://img.youtube.com/vi/lGA53KljQrM/0.jpg)](https://www.youtube.com/watch?v=lGA53KljQrM) | +| Run-out Check | Plan velocity to decelerate for the possibility of nearby objects running out into the path.

Reference implementation is in [Run Out Module](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/). | - objects information | ![run-out](image/features-run-out.drawio.svg) | [Demonstration Video](https://youtu.be/9IDggldT2t0)
[![Demonstration Video](https://img.youtube.com/vi/9IDggldT2t0/0.jpg)](https://www.youtube.com/watch?v=9IDggldT2t0) | +| Stop Line | Plan velocity to stop at a stop line.

Reference implementation is in [Stop Line Module](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/). | - Lanelet map (stop line) | ![stop-line](image/features-stop-line.drawio.svg) | [Demonstration Video](https://youtu.be/eej9jYt-GSE)
[![Demonstration Video](https://img.youtube.com/vi/eej9jYt-GSE/0.jpg)](https://www.youtube.com/watch?v=eej9jYt-GSE) | +| Occlusion Spot Check | Plan velocity to decelerate for objects running out from occlusion area, for example, from behind a large vehicle.

Reference implementation is in [Occlusion Spot Module](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/). | - objects information
- Lanelet map (private/public lane) | ![occlusion-spot](image/features-occlusion-spot.drawio.svg) | [Demonstration Video](https://youtu.be/3qs8Ivjh1fs)
[![Demonstration Video](https://img.youtube.com/vi/3qs8Ivjh1fs/0.jpg)](https://www.youtube.com/watch?v=3qs8Ivjh1fs) | +| No Stop Area | Plan velocity not to stop in areas where stopping is prohibited, such as in front of the fire station entrance.

Reference implementation is in [No Stopping Area Module](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/). | - Lanelet map (no stopping area) | ![no-stopping-area](image/features-no-stopping-area.drawio.svg) | | +| Merge from Private Area to Public Road | Plan velocity for entering the public road from a private driveway to avoid a risk of collision with pedestrians or other vehicles.

Reference implementation is in [Merge from Private Area Module](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/). | - objects information
- Lanelet map (private/public lane) | WIP | | +| Speed Bump | Plan velocity to decelerate for speed bumps.

Reference implementation is in [Speed Bump Module](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_speed_bump_module/). | - Lanelet map (speed bump) | ![speed-bump](image/features-speed-bump.drawio.svg) | [Demonstration Video](https://youtu.be/FpX3q3YaaCw)
[![Demonstration Video](https://img.youtube.com/vi/FpX3q3YaaCw/0.jpg)](https://www.youtube.com/watch?v=FpX3q3YaaCw) | +| Detection Area | Plan velocity to stop at the corresponding stop when an object exist in the designated detection area.

Reference implementation is in [Detection Area Module](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/). | - Lanelet map (detection area) | ![detection-area](image/features-detection-area.drawio.svg) | [Demonstration Video](https://youtu.be/YzXF4U69lJs)
[![Demonstration Video](https://img.youtube.com/vi/YzXF4U69lJs/0.jpg)](https://www.youtube.com/watch?v=YzXF4U69lJs) | +| No Drivable Lane | Plan velocity to stop before exiting the area designated by ODD (Operational Design Domain) or stop the vehicle if autonomous mode started in out of ODD lane.

Reference implementation is in [No Drivable Lane Module](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/). | - Lanelet map (no drivable lane) | ![no-drivable-lane](image/features-no-drivable-lane.drawio.svg) | | +| Collision Detection when deviating from lane | Plan velocity to avoid conflict with other vehicles driving in the another lane when the ego vehicle is deviating from own lane.

Reference implementation is in [Out of Lane Module](https://autowarefoundation.github.io/autoware_universe/main/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/). | - objects information
- Lanelet map (driving lane) | WIP | | +| Parking | Plan path and velocity for given goal in parking area.

Reference implementation is in [Free Space Planner](https://autowarefoundation.github.io/autoware_universe/main/planning/autoware_freespace_planner/). | - objects information
- Lanelet map (parking area) | ![parking](image/features-parking.drawio.svg) | [Demonstration Video](https://youtu.be/rAIYmwpNWfA)
[![Demonstration Video](https://img.youtube.com/vi/rAIYmwpNWfA/0.jpg)](https://www.youtube.com/watch?v=rAIYmwpNWfA) | +| Autonomous Emergency Braking (AEB) | Perform an emergency stop if a collision with an object ahead is anticipated. It is noted that this function is expected as a final safety layer, and this should work even in the event of failures in the Localization or Perception system.

Reference implementation is in [Out of Lane Module](https://autowarefoundation.github.io/autoware_universe/main/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/). | - Primitive objects | ![aeb](image/features-aeb.drawio.svg) | | | Minimum Risk Maneuver (MRM) | Provide appropriate MRM (Minimum Risk Maneuver) instructions when a hazardous event occurs. For example, when a sensor trouble found, send an instruction for emergency braking, moderate stop, or pulling over to the shoulder, depending on the severity of the situation.

Reference implementation is in TODO | - TODO | WIP | | -| Trajectory Validation | Check the planned trajectory is safe. If it is unsafe, take appropriate action, such as modify the trajectory, stop sending the trajectory or report to the autonomous driving system.

Reference implementation is in [Planning Validator](https://autowarefoundation.github.io/autoware.universe/main/planning/autoware_planning_validator/). | - None | ![trajectory-validation](image/features-trajectory-validation.drawio.svg) | | +| Trajectory Validation | Check the planned trajectory is safe. If it is unsafe, take appropriate action, such as modify the trajectory, stop sending the trajectory or report to the autonomous driving system.

Reference implementation is in [Planning Validator](https://autowarefoundation.github.io/autoware_universe/main/planning/autoware_planning_validator/). | - None | ![trajectory-validation](image/features-trajectory-validation.drawio.svg) | | | Running Lane Map Generation | Generate lane map from localization data recorded in manual driving.

Reference implementation is in WIP | - None | WIP | | -| Running Lane Optimization | Optimize the centerline (reference path) of the map to make it smooth considering the vehicle kinematics.

Reference implementation is in [Static Centerline Optimizer](https://autowarefoundation.github.io/autoware.universe/main/planning/autoware_static_centerline_generator/). | - Lanelet map (driving lanes) | WIP | | +| Running Lane Optimization | Optimize the centerline (reference path) of the map to make it smooth considering the vehicle kinematics.

Reference implementation is in [Static Centerline Optimizer](https://autowarefoundation.github.io/autoware_universe/main/planning/autoware_static_centerline_generator/). | - Lanelet map (driving lanes) | WIP | | @@ -205,36 +205,36 @@ _Note that some implementation does not adhere to the high-level architecture de For more details, please refer to the design documents in each package. -- [_mission_planner_](https://autowarefoundation.github.io/autoware.universe/main/planning/autoware_mission_planner/): calculate route from start to goal based on the map information. -- [_behavior_path_planner_](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_planner/): calculates path and drivable area based on the traffic rules. - - [_lane_following_](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_planner#lane-following) - - [_lane_change_](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/) - - [_static_obstacle_avoidance_](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/) - - [_pull_over_](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/) - - [_pull_out_](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/) - - [_side_shift_](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/) -- [_behavior_velocity_planner_](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/): calculates max speed based on the traffic rules. - - [_detection_area_](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/) - - [_blind_spot_](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/) - - [_cross_walk_](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/) - - [_stop_line_](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/) - - [_traffic_light_](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/) - - [_intersection_](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/) - - [_no_stopping_area_](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/) - - [_virtual_traffic_light_](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/) - - [_occlusion_spot_](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/) - - [_run_out_](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/) -- [_obstacle_avoidance_planner_](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/): calculate path shape under obstacle and drivable area constraints -- [_surround_obstacle_checker_](https://autowarefoundation.github.io/autoware.universe/main/planning/autoware_surround_obstacle_checker/): keeps the vehicle being stopped when there are obstacles around the ego-vehicle. It works only when the vehicle is stopped. -- [_obstacle_stop_planner_](https://autowarefoundation.github.io/autoware.universe/main/planning/obstacle_stop_planner/): When there are obstacles on or near the trajectory, it calculates the maximum velocity of the trajectory points depending on the situation: stopping, slowing down, or adaptive cruise (following the car). - - [_stop_](https://autowarefoundation.github.io/autoware.universe/main/planning/obstacle_stop_planner/#obstacle-stop-planner_1) - - [_slow_down_](https://autowarefoundation.github.io/autoware.universe/main/planning/obstacle_stop_planner/#slow-down-planner) - - [_adaptive_cruise_](https://autowarefoundation.github.io/autoware.universe/main/planning/obstacle_stop_planner/#adaptive-cruise-controller) -- [_costmap_generator_](https://autowarefoundation.github.io/autoware.universe/main/planning/autoware_costmap_generator): generates a costmap for path generation from dynamic objects and lane information. -- [_freespace_planner_](https://autowarefoundation.github.io/autoware.universe/main/planning/autoware_freespace_planner/): calculates trajectory considering the feasibility (e.g. curvature) for the freespace scene. Algorithms are described [here](https://autowarefoundation.github.io/autoware.universe/main/planning/autoware_freespace_planning_algorithms/). +- [_mission_planner_](https://autowarefoundation.github.io/autoware_universe/main/planning/autoware_mission_planner/): calculate route from start to goal based on the map information. +- [_behavior_path_planner_](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_path_planner/autoware_behavior_path_planner/): calculates path and drivable area based on the traffic rules. + - [_lane_following_](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_path_planner/autoware_behavior_path_planner#lane-following) + - [_lane_change_](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/) + - [_static_obstacle_avoidance_](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/) + - [_pull_over_](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/) + - [_pull_out_](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/) + - [_side_shift_](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/) +- [_behavior_velocity_planner_](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/): calculates max speed based on the traffic rules. + - [_detection_area_](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/) + - [_blind_spot_](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/) + - [_cross_walk_](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/) + - [_stop_line_](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/) + - [_traffic_light_](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/) + - [_intersection_](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/) + - [_no_stopping_area_](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/) + - [_virtual_traffic_light_](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/) + - [_occlusion_spot_](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/) + - [_run_out_](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/) +- [_obstacle_avoidance_planner_](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/): calculate path shape under obstacle and drivable area constraints +- [_surround_obstacle_checker_](https://autowarefoundation.github.io/autoware_universe/main/planning/autoware_surround_obstacle_checker/): keeps the vehicle being stopped when there are obstacles around the ego-vehicle. It works only when the vehicle is stopped. +- [_obstacle_stop_planner_](https://autowarefoundation.github.io/autoware_universe/main/planning/obstacle_stop_planner/): When there are obstacles on or near the trajectory, it calculates the maximum velocity of the trajectory points depending on the situation: stopping, slowing down, or adaptive cruise (following the car). + - [_stop_](https://autowarefoundation.github.io/autoware_universe/main/planning/obstacle_stop_planner/#obstacle-stop-planner_1) + - [_slow_down_](https://autowarefoundation.github.io/autoware_universe/main/planning/obstacle_stop_planner/#slow-down-planner) + - [_adaptive_cruise_](https://autowarefoundation.github.io/autoware_universe/main/planning/obstacle_stop_planner/#adaptive-cruise-controller) +- [_costmap_generator_](https://autowarefoundation.github.io/autoware_universe/main/planning/autoware_costmap_generator): generates a costmap for path generation from dynamic objects and lane information. +- [_freespace_planner_](https://autowarefoundation.github.io/autoware_universe/main/planning/autoware_freespace_planner/): calculates trajectory considering the feasibility (e.g. curvature) for the freespace scene. Algorithms are described [here](https://autowarefoundation.github.io/autoware_universe/main/planning/autoware_freespace_planning_algorithms/). - _scenario_selector_ : chooses a trajectory according to the current scenario. -- [_external_velocity_limit_selector_](https://autowarefoundation.github.io/autoware.universe/main/planning/autoware_external_velocity_limit_selector/): takes an appropriate velocity limit from multiple candidates. -- [_motion_velocity_smoother_](https://autowarefoundation.github.io/autoware.universe/main/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/): calculates final velocity considering velocity, acceleration, and jerk constraints. +- [_external_velocity_limit_selector_](https://autowarefoundation.github.io/autoware_universe/main/planning/autoware_external_velocity_limit_selector/): takes an appropriate velocity limit from multiple candidates. +- [_motion_velocity_smoother_](https://autowarefoundation.github.io/autoware_universe/main/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/): calculates final velocity considering velocity, acceleration, and jerk constraints. ### Important information in the current implementation @@ -258,7 +258,7 @@ While it is possible to add module-level functionalities in the current implemen #### Add new modules in behavior_velocity_planner or behavior_path_planner -ROS nodes such as [behavior_path_planner](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/autoware_behavior_path_planner/) and [behavior_velocity_planner](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/) have a module interface available through plugins. By adding modules in accordance with the module interfaces defined in these ROS nodes, dynamic loading/unloading of modules becomes possible. For specific methods of adding modules, please refer to the documentation of each package. +ROS nodes such as [behavior_path_planner](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_path_planner/autoware_behavior_path_planner/) and [behavior_velocity_planner](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/) have a module interface available through plugins. By adding modules in accordance with the module interfaces defined in these ROS nodes, dynamic loading/unloading of modules becomes possible. For specific methods of adding modules, please refer to the documentation of each package. #### Add a new ros node in the planning component @@ -285,7 +285,7 @@ By creating a scenario as a ros node and aligning the scenario_selector ros node #### [1] self-crossing road and overlapped -To support the self-crossing road and overlapped road in the opposite direction, each planning module has to meet the [specifications](https://autowarefoundation.github.io/autoware.universe/main/common/motion_utils/) +To support the self-crossing road and overlapped road in the opposite direction, each planning module has to meet the [specifications](https://autowarefoundation.github.io/autoware_universe/main/common/motion_utils/) Currently, the supported modules are as follows. diff --git a/docs/design/autoware-interfaces/components/vehicle-interface.md b/docs/design/autoware-interfaces/components/vehicle-interface.md index a5e88df435f..7ee665e2631 100644 --- a/docs/design/autoware-interfaces/components/vehicle-interface.md +++ b/docs/design/autoware-interfaces/components/vehicle-interface.md @@ -25,7 +25,7 @@ This may not be suitable for all vehicles and we thus distinguish between two ty For vehicles of type 2, a vehicle adapter is necessary to convert the Autoware control command into the vehicle specific commands. -For an example, see the [raw_vehicle_cmd_converter](https://autowarefoundation.github.io/autoware.universe/main/vehicle/raw_vehicle_cmd_converter/) +For an example, see the [raw_vehicle_cmd_converter](https://autowarefoundation.github.io/autoware_universe/main/vehicle/raw_vehicle_cmd_converter/) which converts the target speed and steering angle to acceleration, steering, and brake mechanical inputs. ## Inputs from Autoware diff --git a/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/crosswalk/index.md b/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/crosswalk/index.md index d7c0f24875c..07cfe623720 100644 --- a/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/crosswalk/index.md +++ b/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/crosswalk/index.md @@ -1,6 +1,6 @@ # Crosswalk attribute -Behavior velocity planner's [crosswalk module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_crosswalk_module/) plans velocity +Behavior velocity planner's [crosswalk module](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_velocity_crosswalk_module/) plans velocity to stop or decelerate for pedestrians approaching or walking on a crosswalk. In order to operate that, we will add crosswalk attribute to our lanelet2 map. diff --git a/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/detection-area/index.md b/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/detection-area/index.md index a708004db1e..dc7818b4f9a 100644 --- a/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/detection-area/index.md +++ b/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/detection-area/index.md @@ -1,6 +1,6 @@ # Detection area element -Behavior velocity planner's [detection area](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_detection_area_module/) plans velocity +Behavior velocity planner's [detection area](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_velocity_detection_area_module/) plans velocity when if pointcloud is detected in a detection area defined on a map, the stop planning will be executed at the predetermined point. In order to operate that, we will add a detection area element to our lanelet2 map. diff --git a/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/speed-bump/index.md b/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/speed-bump/index.md index 8e36ae1171d..c2a0dee2a54 100644 --- a/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/speed-bump/index.md +++ b/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/speed-bump/index.md @@ -1,6 +1,6 @@ # Speed bump -Behavior velocity planner's [speed bump module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_crosswalk_module/) plans velocity +Behavior velocity planner's [speed bump module](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_velocity_crosswalk_module/) plans velocity to slow down before speed bump for comfortable and safety driving. In order to operate that, we will add speed bumps to our lanelet2 map. diff --git a/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/stop-line/index.md b/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/stop-line/index.md index 7342ea0ab96..92c316c246c 100644 --- a/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/stop-line/index.md +++ b/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/stop-line/index.md @@ -1,6 +1,6 @@ # Stop Line -Behavior velocity planner's [stop line module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_stop_line_module/) plans velocity +Behavior velocity planner's [stop line module](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_velocity_stop_line_module/) plans velocity to stop right before stop lines and restart driving after stopped. In order to operate that, we will add stop line attribute to our lanelet2 map. diff --git a/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/traffic-light/index.md b/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/traffic-light/index.md index 4acbe78a01b..efe487c9f74 100644 --- a/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/traffic-light/index.md +++ b/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/traffic-light/index.md @@ -1,6 +1,6 @@ # Traffic light -Behavior velocity planner's [traffic light module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_traffic_light_module/) plans velocity +Behavior velocity planner's [traffic light module](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_velocity_traffic_light_module/) plans velocity according to the traffic light status. In order to operate that, we will add traffic light attribute to our lanelet2 map. diff --git a/docs/how-to-guides/integrating-autoware/creating-vehicle-and-sensor-model/creating-vehicle-model/index.md b/docs/how-to-guides/integrating-autoware/creating-vehicle-and-sensor-model/creating-vehicle-model/index.md index 9c07f8ac15a..ba94adb0fe2 100644 --- a/docs/how-to-guides/integrating-autoware/creating-vehicle-and-sensor-model/creating-vehicle-model/index.md +++ b/docs/how-to-guides/integrating-autoware/creating-vehicle-and-sensor-model/creating-vehicle-model/index.md @@ -105,7 +105,7 @@ Now, we will modify these files according to our vehicle design. ### mirror.param.yaml This file describes your vehicle mirror dimension for -[CropBox filter](https://autowarefoundation.github.io/autoware.universe/main/sensing/pointcloud_preprocessor/docs/crop-box-filter/) of [PointCloudPreprocessor](../../../../design/autoware-architecture/sensing/data-types/point-cloud.md). +[CropBox filter](https://autowarefoundation.github.io/autoware_universe/main/sensing/pointcloud_preprocessor/docs/crop-box-filter/) of [PointCloudPreprocessor](../../../../design/autoware-architecture/sensing/data-types/point-cloud.md). This is important for cropping mirrors from your lidar's point cloud. The `mirror.param.yaml` consist of the following parameters: @@ -139,7 +139,7 @@ it could be negative value like the mirror dimension figure below. ### simulator_model.param.yaml -This file is a configuration file for the [simulator environment](https://autowarefoundation.github.io/autoware.universe/main/simulator/simple_planning_simulator/). +This file is a configuration file for the [simulator environment](https://autowarefoundation.github.io/autoware_universe/main/simulator/simple_planning_simulator/). Please update these parameters according to your vehicle specifications. For detailed information about variables, please check the [simple_planning_simulator](https://github.com/autowarefoundation/autoware.universe/tree/main/simulator/simple_planning_simulator) package. diff --git a/docs/how-to-guides/integrating-autoware/launch-autoware/control/index.md b/docs/how-to-guides/integrating-autoware/launch-autoware/control/index.md index f6453e431b5..ca68930ffdc 100644 --- a/docs/how-to-guides/integrating-autoware/launch-autoware/control/index.md +++ b/docs/how-to-guides/integrating-autoware/launch-autoware/control/index.md @@ -50,7 +50,7 @@ Here are some predefined control launch arguments: - **`enable_autonomous_emergency_braking:`** This argument enables autonomous emergency braking under specific conditions. - Please refer to the [Autonomous emergency braking (AEB)](https://autowarefoundation.github.io/autoware.universe/main/control/autonomous_emergency_braking/) page for + Please refer to the [Autonomous emergency braking (AEB)](https://autowarefoundation.github.io/autoware_universe/main/control/autonomous_emergency_braking/) page for more information. To enable it, update the value in the `tier4_control_component.launch.xml` file: @@ -60,7 +60,7 @@ Here are some predefined control launch arguments: ``` - **`enable_predicted_path_checker:`** This argument enables the predicted path checker module. - Please refer to the [Predicted Path Checker](https://autowarefoundation.github.io/autoware.universe/main/control/predicted_path_checker/) page for + Please refer to the [Predicted Path Checker](https://autowarefoundation.github.io/autoware_universe/main/control/predicted_path_checker/) page for more information. To enable it, update the value in the `tier4_control_component.launch.xml` file: diff --git a/docs/how-to-guides/integrating-autoware/launch-autoware/index.md b/docs/how-to-guides/integrating-autoware/launch-autoware/index.md index 7b8b2c8e674..ff3ffd3ed5a 100644 --- a/docs/how-to-guides/integrating-autoware/launch-autoware/index.md +++ b/docs/how-to-guides/integrating-autoware/launch-autoware/index.md @@ -161,7 +161,7 @@ but if you want to use `camera-lidar fusion` you need to change your perception If you want to use traffic light recognition and visualization, you can set `traffic_light_recognition/enable_fine_detection` as true (default). Please check -[traffic_light_fine_detector](https://autowarefoundation.github.io/autoware.universe/main/perception/autoware_traffic_light_fine_detector/) +[traffic_light_fine_detector](https://autowarefoundation.github.io/autoware_universe/main/perception/autoware_traffic_light_fine_detector/) page for more information. If you don't want to use traffic light classifier, then you can disable it: @@ -191,7 +191,7 @@ ros2 launch autoware_launch autoware_launch.launch.xml map_path:= ``` After launching Autoware, we need to initialize our vehicle on our map. -If you set [gnss_poser](https://autowarefoundation.github.io/autoware.universe/main/sensing/autoware_gnss_poser/) for your GNSS/INS sensor at `gnss.launch.xml`, +If you set [gnss_poser](https://autowarefoundation.github.io/autoware_universe/main/sensing/autoware_gnss_poser/) for your GNSS/INS sensor at `gnss.launch.xml`, then gnss_poser will send pose for initialization. If you don't have a GNSS sensor, then you need to set initial pose manually. diff --git a/docs/how-to-guides/integrating-autoware/launch-autoware/localization/index.md b/docs/how-to-guides/integrating-autoware/launch-autoware/localization/index.md index 1daa54f11f1..0a446be20de 100644 --- a/docs/how-to-guides/integrating-autoware/launch-autoware/localization/index.md +++ b/docs/how-to-guides/integrating-autoware/launch-autoware/localization/index.md @@ -76,7 +76,7 @@ The current localization launcher implemented by TIER IV supports multiple local - **`input_pointcloud:`** This argument specifies the input pointcloud of the localization pointcloud pipeline. The default value is `/sensing/lidar/top/outlier_filtered/pointcloud` which - is output of the [pointcloud pre-processing](https://autowarefoundation.github.io/autoware.universe/main/sensing/autoware_pointcloud_preprocessor/) pipeline from sensing. + is output of the [pointcloud pre-processing](https://autowarefoundation.github.io/autoware_universe/main/sensing/autoware_pointcloud_preprocessor/) pipeline from sensing. You can change this value according to your LiDAR topic name, or you can choose to use concatenated point cloud: diff --git a/docs/how-to-guides/integrating-autoware/launch-autoware/perception/index.md b/docs/how-to-guides/integrating-autoware/launch-autoware/perception/index.md index 3052f04b783..2307c2e7479 100644 --- a/docs/how-to-guides/integrating-autoware/launch-autoware/perception/index.md +++ b/docs/how-to-guides/integrating-autoware/launch-autoware/perception/index.md @@ -37,7 +37,7 @@ that we want to change it since `tier4_perception_component.launch.xml` is the top-level launch file of other perception launch files. Here are some predefined perception launch arguments: -- **`occupancy_grid_map_method:`** This argument determines the occupancy grid map method for perception stack. Please check [probabilistic_occupancy_grid_map](https://autowarefoundation.github.io/autoware.universe/main/perception/autoware_probabilistic_occupancy_grid_map/) package for detailed information. +- **`occupancy_grid_map_method:`** This argument determines the occupancy grid map method for perception stack. Please check [probabilistic_occupancy_grid_map](https://autowarefoundation.github.io/autoware_universe/main/perception/autoware_probabilistic_occupancy_grid_map/) package for detailed information. The default probabilistic occupancy grid map method is `pointcloud_based_occupancy_grid_map`. If you want to change it to the `laserscan_based_occupancy_grid_map`, you can change it here: @@ -47,7 +47,7 @@ Here are some predefined perception launch arguments: ``` - **`detected_objects_filter_method:`** This argument determines the filter method for detected objects. - Please check [detected_object_validation](https://autowarefoundation.github.io/autoware.universe/main/perception/autoware_detected_object_validation/) package for detailed information about lanelet and position filter. + Please check [detected_object_validation](https://autowarefoundation.github.io/autoware_universe/main/perception/autoware_detected_object_validation/) package for detailed information about lanelet and position filter. The default detected object filter method is `lanelet_filter`. If you want to change it to the `position_filter`, you can change it here: @@ -57,7 +57,7 @@ Here are some predefined perception launch arguments: ``` - **`detected_objects_validation_method:`** This argument determines the validation method for detected objects. - Please check [detected_object_validation](https://autowarefoundation.github.io/autoware.universe/main/perception/autoware_detected_object_validation/) package for detailed information about validation methods. + Please check [detected_object_validation](https://autowarefoundation.github.io/autoware_universe/main/perception/autoware_detected_object_validation/) package for detailed information about validation methods. The default detected object filter method is `obstacle_pointcloud`. If you want to change it to the `occupancy_grid`, you can change it here, but remember it requires `laserscan_based_occupancy_grid_map` method as `occupancy_grid_map_method`: diff --git a/docs/how-to-guides/integrating-autoware/launch-autoware/planning/index.md b/docs/how-to-guides/integrating-autoware/launch-autoware/planning/index.md index fed90b465b4..c50b215938f 100644 --- a/docs/how-to-guides/integrating-autoware/launch-autoware/planning/index.md +++ b/docs/how-to-guides/integrating-autoware/launch-autoware/planning/index.md @@ -40,7 +40,7 @@ Here are some predefined planning launch arguments: - **`use_experimental_lane_change_function:`** This argument enables `enable_collision_check_at_prepare_phase`, `use_predicted_path_outside_lanelet`, and `use_all_predicted_path` options for Autoware for experimental lane changing - (for more information, please refer to [lane_change documentation](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_planner/docs/behavior_path_planner_lane_change_design/)). + (for more information, please refer to [lane_change documentation](https://autowarefoundation.github.io/autoware_universe/main/planning/behavior_path_planner/docs/behavior_path_planner_lane_change_design/)). The default value is True. To set it to False, make the following change in the `tier4_planning_component.launch.xml` file: @@ -49,8 +49,8 @@ Here are some predefined planning launch arguments: + ``` -- **`cruise_planner_type:`** There are two types of cruise planners in Autoware: [obstacle_stop_planner](https://autowarefoundation.github.io/autoware.universe/main/planning/obstacle_stop_planner/) - and [obstacle_cruise_planner](https://autowarefoundation.github.io/autoware.universe/main/planning/obstacle_cruise_planner/). For specifications on these cruise planner types, +- **`cruise_planner_type:`** There are two types of cruise planners in Autoware: [obstacle_stop_planner](https://autowarefoundation.github.io/autoware_universe/main/planning/obstacle_stop_planner/) + and [obstacle_cruise_planner](https://autowarefoundation.github.io/autoware_universe/main/planning/obstacle_cruise_planner/). For specifications on these cruise planner types, please refer to the package documentation. The default cruise planner is `obstacle_stop_planner`. To change it to obstacle_cruise_planner, update the argument value in the `tier4_planning_component.launch.xml` file: @@ -59,7 +59,7 @@ Here are some predefined planning launch arguments: + ``` -- **`use_surround_obstacle_check:`** This argument enables the [surround_obstacle_checker](https://autowarefoundation.github.io/autoware.universe/main/planning/surround_obstacle_checker/) +- **`use_surround_obstacle_check:`** This argument enables the [surround_obstacle_checker](https://autowarefoundation.github.io/autoware_universe/main/planning/surround_obstacle_checker/) for Autoware. If you want to disable it, you can do in the `tier4_planning_component.launch.xml` file: @@ -69,7 +69,7 @@ Here are some predefined planning launch arguments: ``` - **`velocity_smoother_type:`** This argument specifies the type of smoother - for the [motion_velocity_smoother](https://autowarefoundation.github.io/autoware.universe/main/planning/motion_velocity_smoother/) package. Please consult the documentation + for the [motion_velocity_smoother](https://autowarefoundation.github.io/autoware_universe/main/planning/motion_velocity_smoother/) package. Please consult the documentation for detailed information about available smoother types. For instance, if you wish to change your smoother type from JerkFiltered to L2, you can do in the tier4_planning_component.launch.xml file.: diff --git a/docs/how-to-guides/integrating-autoware/launch-autoware/system/index.md b/docs/how-to-guides/integrating-autoware/launch-autoware/system/index.md index 871c15e8ab5..37a11671bf9 100644 --- a/docs/how-to-guides/integrating-autoware/launch-autoware/system/index.md +++ b/docs/how-to-guides/integrating-autoware/launch-autoware/system/index.md @@ -29,15 +29,15 @@ This diagram describes some of the Autoware system launch files flow at `autowar As described in the flow diagram of the system launch pipeline, the `system.launch.xml` from the `tier4_system_launch` package directly launches the following packages: -- [system_monitor](https://autowarefoundation.github.io/autoware.universe/main/system/system_monitor/) -- [component_interface_tools](https://autowarefoundation.github.io/autoware.universe/main/common/component_interface_tools/) -- [component_state_monitor](https://autowarefoundation.github.io/autoware.universe/main/system/component_state_monitor/) -- [system_error_monitor](https://autowarefoundation.github.io/autoware.universe/main/system/system_error_monitor/) -- [emergency_handler](https://autowarefoundation.github.io/autoware.universe/main/system/emergency_handler/) -- [duplicated_node_checker](https://autowarefoundation.github.io/autoware.universe/main/system/duplicated_node_checker/) -- [mrm_comfortable_stop_operator](https://autowarefoundation.github.io/autoware.universe/main/system/mrm_comfortable_stop_operator/) -- [mrm_emergency_stop_operator](https://autowarefoundation.github.io/autoware.universe/main/system/mrm_emergency_stop_operator/) -- [dummy_diag_publisher](https://autowarefoundation.github.io/autoware.universe/main/system/dummy_diag_publisher/) +- [system_monitor](https://autowarefoundation.github.io/autoware_universe/main/system/system_monitor/) +- [component_interface_tools](https://autowarefoundation.github.io/autoware_universe/main/common/component_interface_tools/) +- [component_state_monitor](https://autowarefoundation.github.io/autoware_universe/main/system/component_state_monitor/) +- [system_error_monitor](https://autowarefoundation.github.io/autoware_universe/main/system/system_error_monitor/) +- [emergency_handler](https://autowarefoundation.github.io/autoware_universe/main/system/emergency_handler/) +- [duplicated_node_checker](https://autowarefoundation.github.io/autoware_universe/main/system/duplicated_node_checker/) +- [mrm_comfortable_stop_operator](https://autowarefoundation.github.io/autoware_universe/main/system/mrm_comfortable_stop_operator/) +- [mrm_emergency_stop_operator](https://autowarefoundation.github.io/autoware_universe/main/system/mrm_emergency_stop_operator/) +- [dummy_diag_publisher](https://autowarefoundation.github.io/autoware_universe/main/system/dummy_diag_publisher/) We don't have many modification options in the system launching files (as the parameters are included in config files), diff --git a/docs/how-to-guides/others/reducing-start-delays.md b/docs/how-to-guides/others/reducing-start-delays.md index f3d14dd29b0..fa27e5f5be2 100644 --- a/docs/how-to-guides/others/reducing-start-delays.md +++ b/docs/how-to-guides/others/reducing-start-delays.md @@ -35,7 +35,7 @@ To guarantee passenger comfort, some Autoware modules implement filters on the jerk of the vehicle, preventing sudden changes in acceleration. For example, -the [`vehicle_cmd_gate`](https://autowarefoundation.github.io/autoware.universe/main/control/vehicle_cmd_gate/) +the [`vehicle_cmd_gate`](https://autowarefoundation.github.io/autoware_universe/main/control/vehicle_cmd_gate/) filters the acceleration command generated by the controller and [was previously introducing significant delays](https://github.com/autowarefoundation/autoware.universe/pull/3385) when transitioning between a stop command where the acceleration is negative, @@ -87,10 +87,10 @@ but this can cause uncomfortably high initial accelerations. As we just discussed, for vehicles with throttle control, an increased initial throttle value can reduce the start delay. Since Autoware outputs an acceleration value, the conversion module -[`raw_vehicle_cmd_converter`](https://autowarefoundation.github.io/autoware.universe/main/vehicle/raw_vehicle_cmd_converter/) +[`raw_vehicle_cmd_converter`](https://autowarefoundation.github.io/autoware_universe/main/vehicle/raw_vehicle_cmd_converter/) is used to map the acceleration value from Autoware to a throttle value to be sent to the vehicle. Such mapping is usually calibrated automatically using the -[`accel_brake_map_calibrator`](https://autowarefoundation.github.io/autoware.universe/main/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/) module, +[`accel_brake_map_calibrator`](https://autowarefoundation.github.io/autoware_universe/main/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/) module, but it may produce a low initial throttle which leads to high start delays. In order to increase the initial throttle, there are two options: @@ -98,9 +98,9 @@ increase the initial acceleration output by Autoware, or modify the acceleration to throttle mapping. The initial acceleration output by Autoware can be tuned in the -[`motion_velocity_smoother`](https://autowarefoundation.github.io/autoware.universe/main/planning/motion_velocity_smoother/) +[`motion_velocity_smoother`](https://autowarefoundation.github.io/autoware_universe/main/planning/motion_velocity_smoother/) with parameters `engage_velocity` and `engage_acceleration`. -However, the [`vehicle_cmd_gate`](https://autowarefoundation.github.io/autoware.universe/main/control/vehicle_cmd_gate/) +However, the [`vehicle_cmd_gate`](https://autowarefoundation.github.io/autoware_universe/main/control/vehicle_cmd_gate/) applies a filter on the control command to prevent too sudden changes in jerk and acceleration, limiting the maximum allowed acceleration while the ego vehicle is stopped. diff --git a/docs/how-to-guides/training-machine-learning-models/training-models.md b/docs/how-to-guides/training-machine-learning-models/training-models.md index 22b87787b64..75ec1ab2cbe 100644 --- a/docs/how-to-guides/training-machine-learning-models/training-models.md +++ b/docs/how-to-guides/training-machine-learning-models/training-models.md @@ -33,7 +33,7 @@ Detailed instructions for training the traffic light classifier model can be fou The CenterPoint 3D object detection model within the Autoware has been trained using the **[autowarefoundation/mmdetection3d](https://github.com/autowarefoundation/mmdetection3d/blob/main/projects/AutowareCenterPoint/README.md)** repository. To train custom CenterPoint models and convert them into ONNX format for deployment in Autoware, please refer to the instructions provided in the README file included with Autoware's -**[lidar_centerpoint](https://autowarefoundation.github.io/autoware.universe/main/perception/autoware_lidar_centerpoint/)** package. These instructions will provide a step-by-step guide for training the CenterPoint model. +**[lidar_centerpoint](https://autowarefoundation.github.io/autoware_universe/main/perception/autoware_lidar_centerpoint/)** package. These instructions will provide a step-by-step guide for training the CenterPoint model. In order to assist you with your training process, we have also included an example dataset in the TIER IV dataset format. diff --git a/docs/index.md b/docs/index.md index bb1b77a3f88..06998e79502 100644 --- a/docs/index.md +++ b/docs/index.md @@ -44,5 +44,5 @@ Autoware is the world’s leading open-source project dedicated to autonomous dr In addition to this page, there are several related documentations to further your knowledge and understanding of Autoware: -- [Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe/) contains technical documentations of each component/function such as localization, planning, etc. +- [Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe/) contains technical documentations of each component/function such as localization, planning, etc. - [Autoware Tools Documentation](https://autowarefoundation.github.io/autoware_tools/main/) contains technical documentations of each tools for autonomous driving such as performance analysis, calibration, etc. diff --git a/docs/support/docs-guide.md b/docs/support/docs-guide.md index 7b4341e8a8b..8b8aa9c7de6 100644 --- a/docs/support/docs-guide.md +++ b/docs/support/docs-guide.md @@ -4,5 +4,5 @@ This page explains several documentation sites that are useful for Autoware and - [The Autoware Foundation](https://www.autoware.org/) is the official site of the Autoware Foundation. You can learn about the Autoware community here. - [Autoware Documentation](https://autowarefoundation.github.io/autoware-documentation) (this site) is the central documentation site for Autoware maintained by the Autoware community. General software-related information of Autoware is aggregated here. -- [Autoware Universe Documentation](https://autowarefoundation.github.io/autoware.universe) has READMEs and design documents of software components. +- [Autoware Universe Documentation](https://autowarefoundation.github.io/autoware_universe) has READMEs and design documents of software components. - [ROS Docs Guide](https://docs.ros.org/en/rolling/Docs-Guide.html) explains the ROS 1 and ROS 2 documentation infrastructure.