More clear package category of mission/behavior/motion planning

[felixf4xu]

Code of Conduct

• I have read CODE OF CONDUCT and Support Guidelines before creating this Discussion post.

Contents

Hi,

When I read the autoware planning design document, I always tried to see which category a planning module is in.

From https://github.com/autowarefoundation/autoware-documentation/blob/main/docs/design/autoware-architecture/planning/index.md#reference-implementation I can see this kind of category:

• mission_planner
• behavior_path_planner
  • lane_following
  • lane_change
  • static_obstacle_avoidance
  • pull_over
  • pull_out
  • side_shift
• behavior_velocity_planner
  • detection_area
  • blind_spot
  • cross_walk
  • stop_line
  • traffic_light
  • intersection
  • no_stopping_area
  • virtual_traffic_light
  • occlusion_spot
  • run_out

But where is "Motion Planning"? Which module is an example of "Motion Planning"?

[kosuke55]

Hi
we call modules in https://github.com/autowarefoundation/autoware.universe/blob/c8d4f1150731c6d323247ada7a11995bb5522a9b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml "Motion Planning"

• path_smoother
• path_optimizer
• ...

sorry for inconvenience but some module names in diagram are old like obstalce_avoidance_planner is now path_optimizer

[felixf4xu]

Thanks for the quick response, may I know where did you get the screenshot above?

For the screenshot, I might get an impression that motion planning modules are all "obstacle related", is it a correct understanding?

From the source files, I also found these packages:

autoware_motion_velocity_dynamic_obstacle_stop_module/
autoware_motion_velocity_obstacle_velocity_limiter_module/
autoware_motion_velocity_out_of_lane_module/
autoware_motion_velocity_planner_common/
autoware_motion_velocity_planner_node/

May I understand that motion planning is only about "velocity"?

[maxime-clem]

May I understand that motion planning is only about "velocity"?

Yes.

https://autowarefoundation.github.io/autoware.universe/main/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/

motion_velocity_planner is a planner to adjust the trajectory velocity based on the obstacles around the vehicle.